Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 15 * 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 15 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 1.3665458 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.086401 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 1.3665458 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.086401 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 15 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 260623,075232,4736.473,-12256.383,26,1.1,27,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -60.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,075544,4736.468,-12256.356,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 203.4,1107,-17.6,-10.000,-21.21,2209,0.141

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687769231,4.9,0,stop _10V_AH 14.98,0.000

NET CACST,8,0,20230626083738.663804,18,32767,45,0102,0113,07,00,00,00,00,1,029,252,0,5,1,0,150,14.8,3.48,-100,-0.48,-01,-0.21,73,10000,5000,0,-1,00,00*7F FG_AHR_24Vo 11.337

NET_PING 1687768665,29,214.229996,14.800000,-0.284782 FG_AHR_10Vo 1.412

FREEZE 4.90,14.018,-1.517,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3598.94,324.27,1.173,0,501.0,527.3,474.6,698.87 MEM2 945356,30,101132,74

SM_GC 1.22,0.00,12.07,0.06,0.000,0.060,0.206,497.8,523.1,472.5,191.7,2039.8,0,0,0,30.00,15.59,15.58 DATA_FILE_SIZE 12963,485

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 189739,0

IRIDIUM_FIX 4735.53,-12254.47,260623,064832 SDSIZE 3887104,3868032

TCM_TEMP -86.29 SDFILEDIR 162,16

SC_FREEKB 3873984 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 4736.460938,-12257.000000,260623,020200,2,510,0.36 CURRENT 0.048, 35.9,1

HUMID 52.55 MAGCAL 1.000000,0.017540,-0.029116,-0.008779,1.065814,-0.029719,-0.022724,-0.174033,1.002905,-199.1,-1226.2,-726.1,36,0.0355,0

TEMP 11.06 IMPLIED_C_PITCH 1759,13.07,232,0.0,0.00

INTERNAL_PRESSURE 7.9907 IMPLIED_C_VBD 3304,17.961849,214,0

_24V_AH 14.95,11.909 GPS 260623,085841,4736.272,-12256.694,1,0.8,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 802 1346 16166.90 nil 0 0 0.00

Pitch_motor 25 259 97.13 nil 0 0 0.00

Roll_motor 65 307 302.91 nil 0 0 0.00

Iridium 123 169 314.17 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.30 nil 0 0 0.00

Core 2189 5 167.97 SciCon 3246 6 314.60

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1336 0 6.41

Compass 1021 5 76.51

RAFOS 1892 40 1134.07

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

6.75 16386 -146.63 -1.44 0.00 495.0 516.9 473.2 190.4 2011.0 0.00 0.00 0 67.11 54.78 0.00 0.00 0.005 0.000 0.000 2089.81 2106.75 2072.88 190.31 2011.44 0 0 0 15.95 30.00 30.00

67.63 18727 -146.63 -1.44 80.00 2089.8 2106.9 2072.7 190.3 2011.2 3.27 -3.56 11 145.87 51.44 7.82 3.69 0.005 0.259 0.134 3947.31 3951.31 3943.31 1252.19 3490.31 0 0 0 15.97 15.81 15.89

310.22 3205 -146.63 -1.24 0.00 3950.4 3956.2 3944.7 1251.7 3491.2 38.58 -17.34 55 318.66 0.00 0.31 3.50 0.000 0.192 0.077 3949.62 3955.19 3944.06 1299.38 2008.81 0 0 0 30.00 15.91 15.94

502.48 388 -146.63 -1.15 80.00 3951.3 3958.2 3944.4 1299.7 2009.3 64.86 -13.03 82 511.33 0.00 0.00 3.71 0.000 0.000 0.131 3951.03 3958.00 3944.06 1299.38 3489.75 0 0 0 30.00 30.00 15.97

550.18 3205 -146.63 -1.01 0.00 3950.9 3958.0 3943.8 1299.1 3490.2 71.99 -15.42 91 559.26 0.00 0.38 3.48 0.000 0.174 0.077 3950.69 3957.12 3944.25 1358.56 2009.06 0 0 0 30.00 15.95 15.99

745.19 388 -146.63 -0.96 80.00 3951.7 3959.1 3944.3 1358.6 2008.3 94.17 -11.39 111 758.31 0.00 0.00 3.74 0.000 0.000 0.134 3907.34 3870.06 3944.62 1358.69 3491.19 0 0 0 30.00 30.00 15.87

771.65 3205 -146.63 -0.83 0.00 3951.5 3958.9 3944.1 1358.9 3491.6 97.41 -11.74 116 784.17 0.00 0.26 3.55 0.000 0.174 0.077 3951.53 3958.94 3944.12 1400.50 2006.06 0 0 0 30.00 15.84 15.87

967.87 292 -146.63 -0.83 80.00 3952.0 3959.9 3944.2 1400.4 2006.1 115.98 -9.52 137 976.84 0.00 0.00 3.74 0.000 0.000 0.137 3880.34 3816.56 3944.12 1399.62 3489.62 0 0 0 30.00 30.00 15.91

1155.55 1028 -146.63 -0.83 0.00 3952.9 3961.1 3944.8 1400.1 3490.8 136.22 -10.94 174 1163.42 0.00 0.00 3.53 0.000 0.000 0.080 3952.91 3960.62 3945.19 1400.81 2010.12 0 0 0 30.00 30.00 15.96

1300 end dive: TARGET_DEPTH_EXCEEDED

state 1301 begin apogee

1302.41 10243 0.00 -0.36 0.00 3952.5 3961.2 3943.8 1400.4 2039.9 150.35 -9.64 189 1432.52 115.88 0.74 0.06 1.347 0.133 0.307 3350.78 3390.56 3311.00 1517.88 2010.75 0 0 0 11.98 15.98 15.56

1434 end apogee: CONTROL_FINISHED_OK

state 1434 begin climb

1434.03 10759 146.63 1.44 -80.00 3348.2 3388.1 3308.2 1518.0 2011.8 157.12 0.00 201 1581.83 121.71 2.80 4.03 1.305 0.111 0.188 2750.16 2800.56 2699.75 1950.75 563.44 0 0 0 11.86 15.59 15.37

1647.37 9382 178.94 1.52 0.00 2746.2 2792.2 2700.3 1950.3 562.5 144.82 8.50 238 1687.19 28.76 0.00 3.61 1.242 0.000 0.077 2618.78 2670.69 2566.88 1950.88 2039.81 0 0 0 11.73 30.00 15.60

1871.23 10663 223.96 1.66 80.00 2614.8 2665.6 2564.0 1950.4 2039.8 127.35 7.91 264 1922.52 38.03 0.31 3.75 1.265 0.067 0.149 2434.94 2494.12 2375.75 2020.38 3489.19 0 0 0 11.88 15.78 15.63

2006.44 1156 223.96 1.70 0.00 2432.2 2490.1 2374.4 2019.8 3488.6 112.23 12.24 290 2015.44 0.00 0.00 3.58 0.000 0.000 0.081 2429.28 2487.81 2370.75 2020.50 2011.00 0 0 0 30.00 30.00 15.76

2201.46 388 223.96 1.76 80.00 2430.4 2490.2 2370.7 2020.0 2011.1 91.40 10.48 310 2210.55 0.00 0.00 3.75 0.000 0.000 0.142 2428.38 2487.12 2369.62 2020.44 3490.69 0 0 0 30.00 30.00 15.87

2269.45 1156 223.96 1.81 0.00 2430.0 2489.1 2370.8 2020.4 3489.9 83.73 11.25 323 2278.37 0.00 0.00 3.54 0.000 0.000 0.080 2429.47 2488.56 2370.38 2020.75 2009.38 0 0 0 30.00 30.00 15.92

2464.57 10663 231.51 1.88 80.00 2429.4 2488.4 2370.4 2020.1 2009.6 65.17 9.65 343 2485.04 8.49 0.22 3.73 1.039 0.075 0.143 2401.69 2459.94 2343.44 2071.19 3489.38 0 0 0 12.14 16.01 15.90

2533.76 1028 231.51 1.88 0.00 2404.6 2462.5 2346.7 2071.0 3489.7 56.72 12.71 355 2542.86 0.00 0.00 3.52 0.000 0.000 0.081 2402.62 2459.62 2345.62 2071.19 2009.38 0 0 0 30.00 30.00 15.96

2723.99 388 231.51 1.92 80.00 2403.8 2462.5 2345.1 2071.2 2008.5 35.45 10.57 387 2732.85 0.00 0.00 3.72 0.000 0.000 0.144 2401.41 2459.44 2343.38 2071.38 3489.00 0 0 0 30.00 30.00 16.00

2816.57 1028 231.51 1.92 0.00 2403.5 2462.0 2345.1 2070.9 3489.4 24.58 11.47 405 2825.33 0.00 0.00 3.50 0.000 0.000 0.081 2404.97 2464.19 2345.75 2071.00 2008.06 0 0 0 30.00 30.00 16.03

3010.54 10403 298.81 2.06 0.00 2402.9 2462.0 2343.9 2071.4 2009.1 7.50 6.88 440 3077.22 59.56 0.17 0.00 1.213 0.087 0.000 2129.66 2195.19 2064.12 2117.06 2009.19 0 0 0 12.09 16.06 30.00

3241 end climb: NO_VERTICAL_VELOCITY

state 3241 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	15	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	1.3665458	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.086401	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	260623,075232,4736.473,-12256.383,26,1.1,27,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,075544,4736.468,-12256.356,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	203.4,1107,-17.6,-10.000,-21.21,2209,0.141
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000307

NAV	1687769231,4.9,0,stop	_10V_AH	14.98,0.000
NET	CACST,8,0,20230626083738.663804,18,32767,45,0102,0113,07,00,00,00,00,1,029,252,0,5,1,0,150,14.8,3.48,-100,-0.48,-01,-0.21,73,10000,5000,0,-1,00,00*7F	FG_AHR_24Vo	11.337
NET_PING	1687768665,29,214.229996,14.800000,-0.284782	FG_AHR_10Vo	1.412
FREEZE	4.90,14.018,-1.517,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3598.94,324.27,1.173,0,501.0,527.3,474.6,698.87	MEM2	945356,30,101132,74
SM_GC	1.22,0.00,12.07,0.06,0.000,0.060,0.206,497.8,523.1,472.5,191.7,2039.8,0,0,0,30.00,15.59,15.58	DATA_FILE_SIZE	12963,485
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	189739,0
IRIDIUM_FIX	4735.53,-12254.47,260623,064832	SDSIZE	3887104,3868032
TCM_TEMP	-86.29	SDFILEDIR	162,16
SC_FREEKB	3873984	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	4736.460938,-12257.000000,260623,020200,2,510,0.36	CURRENT	0.048, 35.9,1
HUMID	52.55	MAGCAL	1.000000,0.017540,-0.029116,-0.008779,1.065814,-0.029719,-0.022724,-0.174033,1.002905,-199.1,-1226.2,-726.1,36,0.0355,0
TEMP	11.06	IMPLIED_C_PITCH	1759,13.07,232,0.0,0.00
INTERNAL_PRESSURE	7.9907	IMPLIED_C_VBD	3304,17.961849,214,0
_24V_AH	14.95,11.909	GPS	260623,085841,4736.272,-12256.694,1,0.8,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	802	1346	16166.90	nil	0	0	0.00
Pitch_motor	25	259	97.13	nil	0	0	0.00
Roll_motor	65	307	302.91	nil	0	0	0.00
Iridium	123	169	314.17	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.30	nil	0	0	0.00
Core	2189	5	167.97	SciCon	3246	6	314.60
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1336	0	6.41
Compass	1021	5	76.51
RAFOS	1892	40	1134.07
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
6.75	16386	-146.63	-1.44	0.00	495.0	516.9	473.2	190.4	2011.0	0.00	0.00	0	67.11	54.78	0.00	0.00	0.005	0.000	0.000	2089.81	2106.75	2072.88	190.31	2011.44	0	0	0	15.95	30.00	30.00
67.63	18727	-146.63	-1.44	80.00	2089.8	2106.9	2072.7	190.3	2011.2	3.27	-3.56	11	145.87	51.44	7.82	3.69	0.005	0.259	0.134	3947.31	3951.31	3943.31	1252.19	3490.31	0	0	0	15.97	15.81	15.89
310.22	3205	-146.63	-1.24	0.00	3950.4	3956.2	3944.7	1251.7	3491.2	38.58	-17.34	55	318.66	0.00	0.31	3.50	0.000	0.192	0.077	3949.62	3955.19	3944.06	1299.38	2008.81	0	0	0	30.00	15.91	15.94
502.48	388	-146.63	-1.15	80.00	3951.3	3958.2	3944.4	1299.7	2009.3	64.86	-13.03	82	511.33	0.00	0.00	3.71	0.000	0.000	0.131	3951.03	3958.00	3944.06	1299.38	3489.75	0	0	0	30.00	30.00	15.97
550.18	3205	-146.63	-1.01	0.00	3950.9	3958.0	3943.8	1299.1	3490.2	71.99	-15.42	91	559.26	0.00	0.38	3.48	0.000	0.174	0.077	3950.69	3957.12	3944.25	1358.56	2009.06	0	0	0	30.00	15.95	15.99
745.19	388	-146.63	-0.96	80.00	3951.7	3959.1	3944.3	1358.6	2008.3	94.17	-11.39	111	758.31	0.00	0.00	3.74	0.000	0.000	0.134	3907.34	3870.06	3944.62	1358.69	3491.19	0	0	0	30.00	30.00	15.87
771.65	3205	-146.63	-0.83	0.00	3951.5	3958.9	3944.1	1358.9	3491.6	97.41	-11.74	116	784.17	0.00	0.26	3.55	0.000	0.174	0.077	3951.53	3958.94	3944.12	1400.50	2006.06	0	0	0	30.00	15.84	15.87
967.87	292	-146.63	-0.83	80.00	3952.0	3959.9	3944.2	1400.4	2006.1	115.98	-9.52	137	976.84	0.00	0.00	3.74	0.000	0.000	0.137	3880.34	3816.56	3944.12	1399.62	3489.62	0	0	0	30.00	30.00	15.91
1155.55	1028	-146.63	-0.83	0.00	3952.9	3961.1	3944.8	1400.1	3490.8	136.22	-10.94	174	1163.42	0.00	0.00	3.53	0.000	0.000	0.080	3952.91	3960.62	3945.19	1400.81	2010.12	0	0	0	30.00	30.00	15.96
1300	end dive: TARGET_DEPTH_EXCEEDED
state	1301	begin apogee
1302.41	10243	0.00	-0.36	0.00	3952.5	3961.2	3943.8	1400.4	2039.9	150.35	-9.64	189	1432.52	115.88	0.74	0.06	1.347	0.133	0.307	3350.78	3390.56	3311.00	1517.88	2010.75	0	0	0	11.98	15.98	15.56
1434	end apogee: CONTROL_FINISHED_OK
state	1434	begin climb
1434.03	10759	146.63	1.44	-80.00	3348.2	3388.1	3308.2	1518.0	2011.8	157.12	0.00	201	1581.83	121.71	2.80	4.03	1.305	0.111	0.188	2750.16	2800.56	2699.75	1950.75	563.44	0	0	0	11.86	15.59	15.37
1647.37	9382	178.94	1.52	0.00	2746.2	2792.2	2700.3	1950.3	562.5	144.82	8.50	238	1687.19	28.76	0.00	3.61	1.242	0.000	0.077	2618.78	2670.69	2566.88	1950.88	2039.81	0	0	0	11.73	30.00	15.60
1871.23	10663	223.96	1.66	80.00	2614.8	2665.6	2564.0	1950.4	2039.8	127.35	7.91	264	1922.52	38.03	0.31	3.75	1.265	0.067	0.149	2434.94	2494.12	2375.75	2020.38	3489.19	0	0	0	11.88	15.78	15.63
2006.44	1156	223.96	1.70	0.00	2432.2	2490.1	2374.4	2019.8	3488.6	112.23	12.24	290	2015.44	0.00	0.00	3.58	0.000	0.000	0.081	2429.28	2487.81	2370.75	2020.50	2011.00	0	0	0	30.00	30.00	15.76
2201.46	388	223.96	1.76	80.00	2430.4	2490.2	2370.7	2020.0	2011.1	91.40	10.48	310	2210.55	0.00	0.00	3.75	0.000	0.000	0.142	2428.38	2487.12	2369.62	2020.44	3490.69	0	0	0	30.00	30.00	15.87
2269.45	1156	223.96	1.81	0.00	2430.0	2489.1	2370.8	2020.4	3489.9	83.73	11.25	323	2278.37	0.00	0.00	3.54	0.000	0.000	0.080	2429.47	2488.56	2370.38	2020.75	2009.38	0	0	0	30.00	30.00	15.92
2464.57	10663	231.51	1.88	80.00	2429.4	2488.4	2370.4	2020.1	2009.6	65.17	9.65	343	2485.04	8.49	0.22	3.73	1.039	0.075	0.143	2401.69	2459.94	2343.44	2071.19	3489.38	0	0	0	12.14	16.01	15.90
2533.76	1028	231.51	1.88	0.00	2404.6	2462.5	2346.7	2071.0	3489.7	56.72	12.71	355	2542.86	0.00	0.00	3.52	0.000	0.000	0.081	2402.62	2459.62	2345.62	2071.19	2009.38	0	0	0	30.00	30.00	15.96
2723.99	388	231.51	1.92	80.00	2403.8	2462.5	2345.1	2071.2	2008.5	35.45	10.57	387	2732.85	0.00	0.00	3.72	0.000	0.000	0.144	2401.41	2459.44	2343.38	2071.38	3489.00	0	0	0	30.00	30.00	16.00
2816.57	1028	231.51	1.92	0.00	2403.5	2462.0	2345.1	2070.9	3489.4	24.58	11.47	405	2825.33	0.00	0.00	3.50	0.000	0.000	0.081	2404.97	2464.19	2345.75	2071.00	2008.06	0	0	0	30.00	30.00	16.03
3010.54	10403	298.81	2.06	0.00	2402.9	2462.0	2343.9	2071.4	2009.1	7.50	6.88	440	3077.22	59.56	0.17	0.00	1.213	0.087	0.000	2129.66	2195.19	2064.12	2117.06	2009.19	0	0	0	12.09	16.06	30.00
3241	end climb: NO_VERTICAL_VELOCITY
state	3241	begin surface