Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 10 * 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 10 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 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 1.1292778 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 9.8241501 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 30 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 1.1292778 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 9.8241501 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 10 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 260623,023740,4736.171,-12256.604,2,0.8,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,024102,4736.164,-12256.613,2,0.8,5,15.4 MHEAD_RNG_PITCHd_Wd 358.9,701,-17.6,-10.000,-21.21,2209,0.139

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME N IRON 1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687750034,23.5,4,stop _24V_AH 14.95,10.533

NET xmit part outbox0006.n 955 14 _10V_AH 15.00,0.000

NET_PING 1687749763,29,923.497498,9.500000,-1.268456 FG_AHR_24Vo 10.072

MODEM_MSG CACST,8,0,20230626032500.711449,18,3131,28,0099,0000,216,02,02,01,02,1,029,121,0,5,1,0,150,5.5,4.18,-100,-1.18,-01,0.09,64,925,0025,0,1,00,00*2F FG_AHR_10Vo 1.177

FINISH 2.0,1.019032 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3480.99,253.82,1.159,0,501.1,525.2,476.9,698.84 MEM2 945400,30,101088,74

SM_GC 1.72,0.00,12.35,0.08,0.000,0.063,0.197,498.5,521.8,475.2,192.9,2010.6,0,0,0,30.00,15.60,15.57 DATA_FILE_SIZE 12886,488

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 201845,0

IRIDIUM_FIX 4735.53,-12254.47,260623,013359 SDSIZE 3887104,3869696

TCM_TEMP -86.16 SDFILEDIR 119,11

SC_FREEKB 3875584 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687748400,47.60500,-122.95000,0.587,859.6 CURRENT 0.056,175.9,1

RAFOS_FIX 4736.460938,-12257.000000,260623,020200,2,510,0.36 MAGCAL 1.000000,0.010427,-0.067333,0.002902,1.042358,-0.079055,0.071468,-0.006730,0.933978,-161.1,-1197.2,-649.9,29,0.0421,0

HUMID 52.34 IMPLIED_C_PITCH 1765,12.99,224,0.0,0.00

TEMP 11.47 IMPLIED_C_VBD 3321,16.230217,224,0

INTERNAL_PRESSURE 8.00964 GPS 260623,034216,4736.444,-12256.436,0,1.6,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 799 1340 16028.56 nil 0 0 0.00

Pitch_motor 25 267 102.85 nil 0 0 0.00

Roll_motor 73 308 337.94 nil 0 0 0.00

Iridium 134 146 292.80 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 2264 5 173.94 SciCon 3205 6 312.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1229 0 5.90

Compass 1025 5 76.90

RAFOS 1887 40 1132.38

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

6.99 16386 -146.63 -1.44 0.00 495.5 516.9 474.2 190.1 2010.8 0.00 0.00 0 72.76 59.78 0.00 0.00 0.005 0.000 0.000 2216.28 2232.69 2199.88 190.00 2011.69 0 0 0 15.95 30.00 30.00

73.29 18727 -146.63 -1.44 80.00 2216.5 2233.6 2199.4 190.4 2011.1 3.36 -3.40 12 145.03 45.57 7.89 3.67 0.005 0.268 0.137 3948.53 3952.38 3944.69 1253.62 3490.06 0 0 0 15.97 15.82 15.90

299.49 3205 -146.63 -1.24 0.00 3950.9 3957.1 3944.7 1253.4 3490.0 38.17 -17.16 53 307.91 0.00 0.31 3.49 0.000 0.198 0.079 3951.19 3956.62 3945.75 1299.38 2007.94 0 0 0 30.00 15.91 15.94

497.60 388 -146.63 -1.15 80.00 3951.8 3958.6 3944.9 1299.2 2007.6 65.42 -13.60 81 506.42 0.00 0.00 3.70 0.000 0.000 0.132 3952.22 3958.88 3945.56 1299.31 3491.25 0 0 0 30.00 30.00 16.00

605.28 3205 -146.63 -1.01 0.00 3951.5 3958.4 3944.6 1299.8 3491.4 81.61 -15.47 102 614.38 0.00 0.37 3.50 0.000 0.176 0.078 3951.19 3958.44 3943.94 1357.94 2009.31 0 0 0 30.00 16.00 16.03

796.30 388 -146.63 -0.97 80.00 3952.4 3960.1 3944.8 1358.3 2009.5 102.80 -10.68 122 809.09 0.00 0.00 3.72 0.000 0.000 0.136 3953.09 3961.00 3945.19 1358.44 3490.38 0 0 0 30.00 30.00 15.90

877.97 3205 -146.63 -0.90 0.00 3952.8 3960.6 3945.1 1358.2 3490.7 112.42 -12.30 138 886.96 0.00 0.17 3.52 0.000 0.192 0.079 3952.41 3959.94 3944.88 1384.69 2009.38 0 0 0 30.00 15.91 15.95

1077.55 292 -146.63 -0.90 80.00 3953.2 3961.7 3944.6 1385.0 2009.1 132.57 -9.50 158 1086.43 0.00 0.00 3.70 0.000 0.000 0.138 3953.09 3961.94 3944.25 1385.38 3490.12 0 0 0 30.00 30.00 15.99

1179.53 1156 -146.63 -0.86 0.00 3953.1 3961.8 3944.4 1385.2 3490.9 143.53 -11.08 178 1187.78 0.00 0.00 3.53 0.000 0.000 0.081 3953.50 3962.44 3944.56 1384.75 2008.31 0 0 0 30.00 30.00 16.00

1245 end dive: TARGET_DEPTH_EXCEEDED

state 1245 begin apogee

1246.96 10243 0.00 -0.36 0.00 3953.9 3963.0 3944.8 1385.5 2041.4 150.21 -10.13 185 1377.17 115.43 0.83 0.06 1.341 0.137 0.308 3349.25 3389.25 3309.25 1516.50 2012.06 0 0 0 12.12 16.00 15.58

1378 end apogee: CONTROL_FINISHED_OK

state 1378 begin climb

1378.65 10759 146.63 1.44 -80.00 3347.3 3386.6 3307.9 1516.2 2011.5 157.00 0.00 197 1526.46 121.20 2.79 4.01 1.302 0.113 0.187 2748.47 2799.00 2697.94 1950.06 562.25 0 0 0 11.93 15.62 15.39

1568.58 9382 191.84 1.54 0.00 2746.8 2793.4 2700.1 1950.4 562.6 147.12 7.91 230 1625.64 39.14 0.00 3.64 1.256 0.000 0.076 2567.00 2621.94 2512.06 1950.19 2039.25 0 0 0 12.05 30.00 15.12

1809.56 10663 235.36 1.69 80.00 2561.7 2615.8 2507.6 1950.7 2038.2 127.51 7.98 259 1860.77 36.83 0.34 3.74 1.257 0.065 0.148 2389.28 2449.56 2329.00 2024.88 3489.25 0 0 0 12.14 15.78 15.61

1948.91 1156 235.36 1.72 0.00 2386.2 2446.3 2326.1 2025.1 3488.9 111.43 12.23 286 1957.25 0.00 0.00 3.60 0.000 0.000 0.082 2386.00 2445.62 2326.38 2025.31 2011.69 0 0 0 30.00 30.00 15.74

2144.69 388 235.36 1.78 80.00 2384.2 2445.9 2322.5 2025.1 2010.7 90.06 10.62 306 2153.80 0.00 0.00 3.76 0.000 0.000 0.142 2382.31 2444.81 2319.81 2025.56 3490.69 0 0 0 30.00 30.00 15.85

2186.93 1156 235.36 1.82 0.00 2383.8 2444.8 2322.7 2025.4 3491.4 85.03 11.73 314 2195.28 0.00 0.00 3.56 0.000 0.000 0.081 2383.44 2444.25 2322.62 2026.38 2007.12 0 0 0 30.00 30.00 15.86

2382.81 10663 239.59 1.90 80.00 2383.3 2444.4 2322.2 2024.9 2007.4 64.94 9.80 334 2400.13 5.31 0.21 3.75 0.822 0.077 0.143 2349.84 2388.31 2311.38 2073.00 3489.06 0 0 0 11.84 15.96 15.90

2467.31 1028 239.59 1.90 0.00 2371.8 2432.4 2311.2 2075.0 3489.1 54.37 13.12 350 2476.42 0.00 0.00 3.59 0.000 0.000 0.081 2372.44 2432.19 2312.69 2074.44 2009.56 0 0 0 30.00 30.00 15.08

2660.31 388 239.59 1.94 80.00 2371.7 2432.9 2310.6 2074.8 2010.0 32.76 10.99 385 2669.16 0.00 0.00 3.73 0.000 0.000 0.142 2371.41 2431.69 2311.12 2073.81 3489.38 0 0 0 30.00 30.00 15.94

2722.89 1028 239.59 1.94 0.00 2371.3 2431.9 2310.7 2074.5 3489.4 25.61 11.45 397 2731.84 0.00 0.00 3.53 0.000 0.000 0.081 2369.06 2430.75 2307.38 2074.81 2009.81 0 0 0 30.00 30.00 15.96

2912.99 8870 289.65 2.05 -80.00 2370.9 2431.4 2310.3 2074.5 2009.6 7.79 7.68 434 2971.56 45.38 0.00 3.85 1.207 0.000 0.183 2164.75 2228.75 2100.75 2074.62 561.00 0 0 0 11.89 30.00 15.82

2975.67 11431 381.81 2.25 0.00 2166.3 2229.4 2103.2 2074.2 561.1 4.21 5.73 445 3071.53 77.29 0.44 3.53 1.185 0.061 0.074 1791.91 1870.25 1713.56 2160.06 2041.38 0 0 0 11.82 15.89 15.88

3110 end climb: SURFACE_DEPTH_REACHED

state 3110 begin surface coast

3200 end surface coast: CONTROL_FINISHED_OK

state 3200 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	10	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	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	1.1292778	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	9.8241501	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	260623,023740,4736.171,-12256.604,2,0.8,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,024102,4736.164,-12256.613,2,0.8,5,15.4	MHEAD_RNG_PITCHd_Wd	358.9,701,-17.6,-10.000,-21.21,2209,0.139
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	N	IRON	1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NAV	1687750034,23.5,4,stop	_24V_AH	14.95,10.533
NET	xmit part outbox0006.n 955 14	_10V_AH	15.00,0.000
NET_PING	1687749763,29,923.497498,9.500000,-1.268456	FG_AHR_24Vo	10.072
MODEM_MSG	CACST,8,0,20230626032500.711449,18,3131,28,0099,0000,216,02,02,01,02,1,029,121,0,5,1,0,150,5.5,4.18,-100,-1.18,-01,0.09,64,925,0025,0,1,00,00*2F	FG_AHR_10Vo	1.177
FINISH	2.0,1.019032	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3480.99,253.82,1.159,0,501.1,525.2,476.9,698.84	MEM2	945400,30,101088,74
SM_GC	1.72,0.00,12.35,0.08,0.000,0.063,0.197,498.5,521.8,475.2,192.9,2010.6,0,0,0,30.00,15.60,15.57	DATA_FILE_SIZE	12886,488
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	201845,0
IRIDIUM_FIX	4735.53,-12254.47,260623,013359	SDSIZE	3887104,3869696
TCM_TEMP	-86.16	SDFILEDIR	119,11
SC_FREEKB	3875584	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687748400,47.60500,-122.95000,0.587,859.6	CURRENT	0.056,175.9,1
RAFOS_FIX	4736.460938,-12257.000000,260623,020200,2,510,0.36	MAGCAL	1.000000,0.010427,-0.067333,0.002902,1.042358,-0.079055,0.071468,-0.006730,0.933978,-161.1,-1197.2,-649.9,29,0.0421,0
HUMID	52.34	IMPLIED_C_PITCH	1765,12.99,224,0.0,0.00
TEMP	11.47	IMPLIED_C_VBD	3321,16.230217,224,0
INTERNAL_PRESSURE	8.00964	GPS	260623,034216,4736.444,-12256.436,0,1.6,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	799	1340	16028.56	nil	0	0	0.00
Pitch_motor	25	267	102.85	nil	0	0	0.00
Roll_motor	73	308	337.94	nil	0	0	0.00
Iridium	134	146	292.80	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	2264	5	173.94	SciCon	3205	6	312.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1229	0	5.90
Compass	1025	5	76.90
RAFOS	1887	40	1132.38
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
6.99	16386	-146.63	-1.44	0.00	495.5	516.9	474.2	190.1	2010.8	0.00	0.00	0	72.76	59.78	0.00	0.00	0.005	0.000	0.000	2216.28	2232.69	2199.88	190.00	2011.69	0	0	0	15.95	30.00	30.00
73.29	18727	-146.63	-1.44	80.00	2216.5	2233.6	2199.4	190.4	2011.1	3.36	-3.40	12	145.03	45.57	7.89	3.67	0.005	0.268	0.137	3948.53	3952.38	3944.69	1253.62	3490.06	0	0	0	15.97	15.82	15.90
299.49	3205	-146.63	-1.24	0.00	3950.9	3957.1	3944.7	1253.4	3490.0	38.17	-17.16	53	307.91	0.00	0.31	3.49	0.000	0.198	0.079	3951.19	3956.62	3945.75	1299.38	2007.94	0	0	0	30.00	15.91	15.94
497.60	388	-146.63	-1.15	80.00	3951.8	3958.6	3944.9	1299.2	2007.6	65.42	-13.60	81	506.42	0.00	0.00	3.70	0.000	0.000	0.132	3952.22	3958.88	3945.56	1299.31	3491.25	0	0	0	30.00	30.00	16.00
605.28	3205	-146.63	-1.01	0.00	3951.5	3958.4	3944.6	1299.8	3491.4	81.61	-15.47	102	614.38	0.00	0.37	3.50	0.000	0.176	0.078	3951.19	3958.44	3943.94	1357.94	2009.31	0	0	0	30.00	16.00	16.03
796.30	388	-146.63	-0.97	80.00	3952.4	3960.1	3944.8	1358.3	2009.5	102.80	-10.68	122	809.09	0.00	0.00	3.72	0.000	0.000	0.136	3953.09	3961.00	3945.19	1358.44	3490.38	0	0	0	30.00	30.00	15.90
877.97	3205	-146.63	-0.90	0.00	3952.8	3960.6	3945.1	1358.2	3490.7	112.42	-12.30	138	886.96	0.00	0.17	3.52	0.000	0.192	0.079	3952.41	3959.94	3944.88	1384.69	2009.38	0	0	0	30.00	15.91	15.95
1077.55	292	-146.63	-0.90	80.00	3953.2	3961.7	3944.6	1385.0	2009.1	132.57	-9.50	158	1086.43	0.00	0.00	3.70	0.000	0.000	0.138	3953.09	3961.94	3944.25	1385.38	3490.12	0	0	0	30.00	30.00	15.99
1179.53	1156	-146.63	-0.86	0.00	3953.1	3961.8	3944.4	1385.2	3490.9	143.53	-11.08	178	1187.78	0.00	0.00	3.53	0.000	0.000	0.081	3953.50	3962.44	3944.56	1384.75	2008.31	0	0	0	30.00	30.00	16.00
1245	end dive: TARGET_DEPTH_EXCEEDED
state	1245	begin apogee
1246.96	10243	0.00	-0.36	0.00	3953.9	3963.0	3944.8	1385.5	2041.4	150.21	-10.13	185	1377.17	115.43	0.83	0.06	1.341	0.137	0.308	3349.25	3389.25	3309.25	1516.50	2012.06	0	0	0	12.12	16.00	15.58
1378	end apogee: CONTROL_FINISHED_OK
state	1378	begin climb
1378.65	10759	146.63	1.44	-80.00	3347.3	3386.6	3307.9	1516.2	2011.5	157.00	0.00	197	1526.46	121.20	2.79	4.01	1.302	0.113	0.187	2748.47	2799.00	2697.94	1950.06	562.25	0	0	0	11.93	15.62	15.39
1568.58	9382	191.84	1.54	0.00	2746.8	2793.4	2700.1	1950.4	562.6	147.12	7.91	230	1625.64	39.14	0.00	3.64	1.256	0.000	0.076	2567.00	2621.94	2512.06	1950.19	2039.25	0	0	0	12.05	30.00	15.12
1809.56	10663	235.36	1.69	80.00	2561.7	2615.8	2507.6	1950.7	2038.2	127.51	7.98	259	1860.77	36.83	0.34	3.74	1.257	0.065	0.148	2389.28	2449.56	2329.00	2024.88	3489.25	0	0	0	12.14	15.78	15.61
1948.91	1156	235.36	1.72	0.00	2386.2	2446.3	2326.1	2025.1	3488.9	111.43	12.23	286	1957.25	0.00	0.00	3.60	0.000	0.000	0.082	2386.00	2445.62	2326.38	2025.31	2011.69	0	0	0	30.00	30.00	15.74
2144.69	388	235.36	1.78	80.00	2384.2	2445.9	2322.5	2025.1	2010.7	90.06	10.62	306	2153.80	0.00	0.00	3.76	0.000	0.000	0.142	2382.31	2444.81	2319.81	2025.56	3490.69	0	0	0	30.00	30.00	15.85
2186.93	1156	235.36	1.82	0.00	2383.8	2444.8	2322.7	2025.4	3491.4	85.03	11.73	314	2195.28	0.00	0.00	3.56	0.000	0.000	0.081	2383.44	2444.25	2322.62	2026.38	2007.12	0	0	0	30.00	30.00	15.86
2382.81	10663	239.59	1.90	80.00	2383.3	2444.4	2322.2	2024.9	2007.4	64.94	9.80	334	2400.13	5.31	0.21	3.75	0.822	0.077	0.143	2349.84	2388.31	2311.38	2073.00	3489.06	0	0	0	11.84	15.96	15.90
2467.31	1028	239.59	1.90	0.00	2371.8	2432.4	2311.2	2075.0	3489.1	54.37	13.12	350	2476.42	0.00	0.00	3.59	0.000	0.000	0.081	2372.44	2432.19	2312.69	2074.44	2009.56	0	0	0	30.00	30.00	15.08
2660.31	388	239.59	1.94	80.00	2371.7	2432.9	2310.6	2074.8	2010.0	32.76	10.99	385	2669.16	0.00	0.00	3.73	0.000	0.000	0.142	2371.41	2431.69	2311.12	2073.81	3489.38	0	0	0	30.00	30.00	15.94
2722.89	1028	239.59	1.94	0.00	2371.3	2431.9	2310.7	2074.5	3489.4	25.61	11.45	397	2731.84	0.00	0.00	3.53	0.000	0.000	0.081	2369.06	2430.75	2307.38	2074.81	2009.81	0	0	0	30.00	30.00	15.96
2912.99	8870	289.65	2.05	-80.00	2370.9	2431.4	2310.3	2074.5	2009.6	7.79	7.68	434	2971.56	45.38	0.00	3.85	1.207	0.000	0.183	2164.75	2228.75	2100.75	2074.62	561.00	0	0	0	11.89	30.00	15.82
2975.67	11431	381.81	2.25	0.00	2166.3	2229.4	2103.2	2074.2	561.1	4.21	5.73	445	3071.53	77.29	0.44	3.53	1.185	0.061	0.074	1791.91	1870.25	1713.56	2160.06	2041.38	0	0	0	11.82	15.89	15.88
3110	end climb: SURFACE_DEPTH_REACHED
state	3110	begin surface coast
3200	end surface coast: CONTROL_FINISHED_OK
state	3200	begin surface