Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 17 * 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 17 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 1.4614483 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.599197 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 1.4614483 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.599197 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 17 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 260623,100331,4735.975,-12256.761,29,0.7,30,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,100644,4735.988,-12256.741,2,0.5,4,15.4 MHEAD_RNG_PITCHd_Wd 359.1,1059,-17.6,-10.000,-21.21,2209,0.136

SPEED_LIMITS 0.173,0.258 D_GRID 166

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:

NET CACST,8,0,20230626105237.924786,18,32767,45,0104,0113,07,00,00,00,00,1,029,252,0,5,1,0,150,3.9,6.45,-100,-3.45,-01,-0.17,82,10000,5000,0,-1,00,00*4F _10V_AH 14.95,0.000

NET_PING 1687776760,29,398.440491,3.900000,-0.528992 FG_AHR_24Vo 11.852

NAV 1687777633,0.1,start FG_AHR_10Vo 1.503

FREEZE 5.78,13.765,-1.536,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3477.31,335.17,1.170,0,501.0,526.5,475.4,698.87 MEM2 945392,28,101136,74

SM_GC 1.26,0.00,12.38,0.06,0.000,0.058,0.204,498.0,522.6,473.4,194.2,2039.8,0,0,0,30.00,15.59,15.59 DATA_FILE_SIZE 12919,462

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 183952,0

IRIDIUM_FIX 4736.87,-12256.21,260623,085951 SDSIZE 3887104,3867360

TCM_TEMP -86.29 SDFILEDIR 179,18

SC_FREEKB 3873344 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 0.075, 51.6,1

HUMID 52.26 MAGCAL 1.000000,0.013451,-0.036693,-0.025024,1.051468,-0.010653,-0.026863,-0.024619,0.997204,-185.5,-1252.7,-728.6,29,0.0371,0

TEMP 11.13 IMPLIED_C_PITCH 1769,13.25,223,0.0,0.00

INTERNAL_PRESSURE 7.99791 IMPLIED_C_VBD 3288,16.451181,223,0

_24V_AH 14.89,12.465 GPS 260623,110744,4736.457,-12256.522,1,0.7,2,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 803 1343 16071.78 nil 0 0 0.00

Pitch_motor 25 264 101.66 nil 0 0 0.00

Roll_motor 59 317 278.90 nil 0 0 0.00

Iridium 126 173 326.01 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.93 nil 0 0 0.00

Core 2125 5 162.66 SciCon 3113 6 300.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1268 0 6.07

Compass 979 5 73.20

RAFOS 1620 40 968.92

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 0.00 495.0 516.5 473.6 193.1 2011.3 0.00 0.00 0 61.40 49.43 0.00 0.00 0.005 0.000 0.000 1948.28 1966.62 1929.94 193.06 2011.75 0 0 0 14.90 30.00 30.00

61.94 18983 -146.63 -1.44 -80.00 1948.7 1967.1 1930.2 193.1 2012.1 3.27 -3.68 9 140.29 50.56 7.87 3.80 0.005 0.264 0.172 3948.88 3953.38 3944.38 1252.81 559.94 0 0 0 15.92 15.78 15.84

344.07 3205 -146.63 -1.23 0.00 3950.2 3955.7 3944.8 1252.5 559.7 49.95 -18.58 63 352.67 0.00 0.34 3.54 0.000 0.196 0.080 3949.94 3955.75 3944.12 1303.12 2035.12 0 0 0 30.00 15.90 15.92

536.43 388 -146.63 -1.14 80.00 3951.5 3958.5 3944.4 1303.1 2034.8 76.28 -13.14 83 545.29 0.00 0.00 3.67 0.000 0.000 0.145 3950.81 3957.56 3944.06 1303.19 3489.69 0 0 0 30.00 30.00 15.95

608.38 3205 -146.63 -1.01 0.00 3951.3 3958.4 3944.2 1302.6 3490.1 86.89 -15.00 97 618.13 0.00 0.35 3.55 0.000 0.171 0.080 3950.94 3958.62 3943.25 1358.75 2010.81 0 0 0 30.00 15.94 15.97

801.93 388 -146.63 -0.96 80.00 3951.7 3959.2 3944.1 1358.2 2010.6 108.82 -10.97 117 810.85 0.00 0.00 3.72 0.000 0.000 0.138 3952.31 3959.75 3944.88 1358.62 3489.44 0 0 0 30.00 30.00 15.99

893.93 3205 -146.63 -0.89 0.00 3951.9 3960.5 3943.2 1358.9 3489.1 120.12 -12.57 135 902.42 0.00 0.16 3.55 0.000 0.185 0.082 3952.34 3960.12 3944.56 1385.94 2011.00 0 0 0 30.00 16.00 16.01

1089.55 260 -146.63 -0.89 80.00 3952.5 3960.8 3944.3 1385.9 2011.1 140.98 -10.42 155 1103.09 0.00 0.00 3.78 0.000 0.000 0.140 3952.66 3961.31 3944.00 1385.62 3490.56 0 0 0 30.00 30.00 15.83

1172 end dive: TARGET_DEPTH_EXCEEDED

state 1172 begin apogee

1179.94 10243 0.00 -0.36 0.00 3952.9 3961.1 3944.8 1385.6 2010.3 150.31 -11.55 171 1311.52 117.29 0.85 0.05 1.343 0.140 0.317 3348.00 3387.12 3308.88 1516.75 2038.12 0 0 0 11.96 15.88 15.53

1313 end apogee: CONTROL_FINISHED_OK

state 1313 begin climb

1313.03 10759 146.63 1.44 -80.00 3348.4 3387.7 3309.2 1516.8 2038.7 157.57 0.00 183 1465.44 122.97 2.83 4.16 1.308 0.111 0.189 2752.41 2803.38 2701.44 1953.69 559.81 0 0 0 11.85 15.56 15.38

1488.68 9382 198.46 1.55 0.00 2747.8 2795.4 2700.3 1953.1 559.8 149.42 7.60 214 1547.04 45.03 0.00 3.63 1.268 0.000 0.078 2522.38 2561.94 2482.81 1950.81 2041.69 0 0 0 11.86 30.00 15.56

1730.98 10663 236.45 1.69 80.00 2535.4 2590.5 2480.4 1952.9 2041.9 130.18 8.24 243 1777.56 32.33 0.33 3.73 1.261 0.067 0.149 2387.38 2448.00 2326.75 2027.00 3488.62 0 0 0 11.91 15.78 15.64

1855.23 1028 236.45 1.69 0.00 2382.1 2442.2 2321.9 2027.1 3489.5 115.67 12.60 266 1863.73 0.00 0.00 3.62 0.000 0.000 0.083 2379.91 2439.69 2320.12 2027.06 2009.88 0 0 0 30.00 30.00 15.73

2047.57 128 236.45 1.75 0.00 2380.3 2441.3 2319.2 2027.2 2009.9 94.54 10.59 286 2049.48 0.00 0.00 0.00 0.000 0.000 0.000 2378.19 2438.38 2318.00 2026.81 2010.12 0 0 0 30.00 30.00 30.00

2232.43 388 236.45 1.80 80.00 2380.1 2441.6 2318.6 2026.9 2009.9 75.50 10.42 304 2241.56 0.00 0.00 3.75 0.000 0.000 0.143 2379.88 2442.56 2317.19 2027.06 3488.75 0 0 0 30.00 30.00 15.92

2330.47 1156 236.45 1.84 0.00 2379.1 2440.6 2317.7 2026.8 3489.0 64.50 11.29 323 2339.37 0.00 0.00 3.55 0.000 0.000 0.083 2380.94 2441.31 2320.56 2025.81 2007.50 0 0 0 30.00 30.00 15.95

2520.59 10403 240.65 1.92 0.00 2379.5 2440.2 2318.8 2027.0 2007.4 45.36 9.81 347 2530.50 5.22 0.22 0.00 0.818 0.077 0.000 2366.84 2427.44 2306.25 2078.25 2007.44 0 0 0 12.01 16.03 30.00

2720.17 388 240.65 1.95 80.00 2367.7 2428.8 2306.7 2078.7 2007.6 24.33 10.48 386 2732.24 0.00 0.00 3.72 0.000 0.000 0.143 2366.97 2427.38 2306.56 2078.25 3488.62 0 0 0 30.00 30.00 15.99

2861.07 9254 257.70 1.97 0.00 2367.4 2427.7 2307.1 2078.7 3489.2 9.28 9.21 414 2890.64 17.76 0.00 3.54 1.169 0.000 0.081 2297.91 2357.94 2237.88 2079.31 2009.00 0 0 0 12.10 30.00 16.05

3074.58 10663 477.41 2.34 80.00 2295.4 2356.9 2233.9 2078.3 2009.1 5.95 -0.18 456 3107.10 27.80 0.53 0.00 1.196 0.057 0.000 2179.12 2241.38 2116.88 2182.62 2009.81 0 0 0 12.22 16.06 30.00

3108 end climb: NO_VERTICAL_VELOCITY

state 3108 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	17	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	1.4614483	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.599197	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	260623,100331,4735.975,-12256.761,29,0.7,30,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,100644,4735.988,-12256.741,2,0.5,4,15.4	MHEAD_RNG_PITCHd_Wd	359.1,1059,-17.6,-10.000,-21.21,2209,0.136
SPEED_LIMITS	0.173,0.258	D_GRID	166
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

NET	CACST,8,0,20230626105237.924786,18,32767,45,0104,0113,07,00,00,00,00,1,029,252,0,5,1,0,150,3.9,6.45,-100,-3.45,-01,-0.17,82,10000,5000,0,-1,00,00*4F	_10V_AH	14.95,0.000
NET_PING	1687776760,29,398.440491,3.900000,-0.528992	FG_AHR_24Vo	11.852
NAV	1687777633,0.1,start	FG_AHR_10Vo	1.503
FREEZE	5.78,13.765,-1.536,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3477.31,335.17,1.170,0,501.0,526.5,475.4,698.87	MEM2	945392,28,101136,74
SM_GC	1.26,0.00,12.38,0.06,0.000,0.058,0.204,498.0,522.6,473.4,194.2,2039.8,0,0,0,30.00,15.59,15.59	DATA_FILE_SIZE	12919,462
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	183952,0
IRIDIUM_FIX	4736.87,-12256.21,260623,085951	SDSIZE	3887104,3867360
TCM_TEMP	-86.29	SDFILEDIR	179,18
SC_FREEKB	3873344	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	0.075, 51.6,1
HUMID	52.26	MAGCAL	1.000000,0.013451,-0.036693,-0.025024,1.051468,-0.010653,-0.026863,-0.024619,0.997204,-185.5,-1252.7,-728.6,29,0.0371,0
TEMP	11.13	IMPLIED_C_PITCH	1769,13.25,223,0.0,0.00
INTERNAL_PRESSURE	7.99791	IMPLIED_C_VBD	3288,16.451181,223,0
_24V_AH	14.89,12.465	GPS	260623,110744,4736.457,-12256.522,1,0.7,2,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	803	1343	16071.78	nil	0	0	0.00
Pitch_motor	25	264	101.66	nil	0	0	0.00
Roll_motor	59	317	278.90	nil	0	0	0.00
Iridium	126	173	326.01	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.93	nil	0	0	0.00
Core	2125	5	162.66	SciCon	3113	6	300.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1268	0	6.07
Compass	979	5	73.20
RAFOS	1620	40	968.92
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	516.5	473.6	193.1	2011.3	0.00	0.00	0	61.40	49.43	0.00	0.00	0.005	0.000	0.000	1948.28	1966.62	1929.94	193.06	2011.75	0	0	0	14.90	30.00	30.00
61.94	18983	-146.63	-1.44	-80.00	1948.7	1967.1	1930.2	193.1	2012.1	3.27	-3.68	9	140.29	50.56	7.87	3.80	0.005	0.264	0.172	3948.88	3953.38	3944.38	1252.81	559.94	0	0	0	15.92	15.78	15.84
344.07	3205	-146.63	-1.23	0.00	3950.2	3955.7	3944.8	1252.5	559.7	49.95	-18.58	63	352.67	0.00	0.34	3.54	0.000	0.196	0.080	3949.94	3955.75	3944.12	1303.12	2035.12	0	0	0	30.00	15.90	15.92
536.43	388	-146.63	-1.14	80.00	3951.5	3958.5	3944.4	1303.1	2034.8	76.28	-13.14	83	545.29	0.00	0.00	3.67	0.000	0.000	0.145	3950.81	3957.56	3944.06	1303.19	3489.69	0	0	0	30.00	30.00	15.95
608.38	3205	-146.63	-1.01	0.00	3951.3	3958.4	3944.2	1302.6	3490.1	86.89	-15.00	97	618.13	0.00	0.35	3.55	0.000	0.171	0.080	3950.94	3958.62	3943.25	1358.75	2010.81	0	0	0	30.00	15.94	15.97
801.93	388	-146.63	-0.96	80.00	3951.7	3959.2	3944.1	1358.2	2010.6	108.82	-10.97	117	810.85	0.00	0.00	3.72	0.000	0.000	0.138	3952.31	3959.75	3944.88	1358.62	3489.44	0	0	0	30.00	30.00	15.99
893.93	3205	-146.63	-0.89	0.00	3951.9	3960.5	3943.2	1358.9	3489.1	120.12	-12.57	135	902.42	0.00	0.16	3.55	0.000	0.185	0.082	3952.34	3960.12	3944.56	1385.94	2011.00	0	0	0	30.00	16.00	16.01
1089.55	260	-146.63	-0.89	80.00	3952.5	3960.8	3944.3	1385.9	2011.1	140.98	-10.42	155	1103.09	0.00	0.00	3.78	0.000	0.000	0.140	3952.66	3961.31	3944.00	1385.62	3490.56	0	0	0	30.00	30.00	15.83
1172	end dive: TARGET_DEPTH_EXCEEDED
state	1172	begin apogee
1179.94	10243	0.00	-0.36	0.00	3952.9	3961.1	3944.8	1385.6	2010.3	150.31	-11.55	171	1311.52	117.29	0.85	0.05	1.343	0.140	0.317	3348.00	3387.12	3308.88	1516.75	2038.12	0	0	0	11.96	15.88	15.53
1313	end apogee: CONTROL_FINISHED_OK
state	1313	begin climb
1313.03	10759	146.63	1.44	-80.00	3348.4	3387.7	3309.2	1516.8	2038.7	157.57	0.00	183	1465.44	122.97	2.83	4.16	1.308	0.111	0.189	2752.41	2803.38	2701.44	1953.69	559.81	0	0	0	11.85	15.56	15.38
1488.68	9382	198.46	1.55	0.00	2747.8	2795.4	2700.3	1953.1	559.8	149.42	7.60	214	1547.04	45.03	0.00	3.63	1.268	0.000	0.078	2522.38	2561.94	2482.81	1950.81	2041.69	0	0	0	11.86	30.00	15.56
1730.98	10663	236.45	1.69	80.00	2535.4	2590.5	2480.4	1952.9	2041.9	130.18	8.24	243	1777.56	32.33	0.33	3.73	1.261	0.067	0.149	2387.38	2448.00	2326.75	2027.00	3488.62	0	0	0	11.91	15.78	15.64
1855.23	1028	236.45	1.69	0.00	2382.1	2442.2	2321.9	2027.1	3489.5	115.67	12.60	266	1863.73	0.00	0.00	3.62	0.000	0.000	0.083	2379.91	2439.69	2320.12	2027.06	2009.88	0	0	0	30.00	30.00	15.73
2047.57	128	236.45	1.75	0.00	2380.3	2441.3	2319.2	2027.2	2009.9	94.54	10.59	286	2049.48	0.00	0.00	0.00	0.000	0.000	0.000	2378.19	2438.38	2318.00	2026.81	2010.12	0	0	0	30.00	30.00	30.00
2232.43	388	236.45	1.80	80.00	2380.1	2441.6	2318.6	2026.9	2009.9	75.50	10.42	304	2241.56	0.00	0.00	3.75	0.000	0.000	0.143	2379.88	2442.56	2317.19	2027.06	3488.75	0	0	0	30.00	30.00	15.92
2330.47	1156	236.45	1.84	0.00	2379.1	2440.6	2317.7	2026.8	3489.0	64.50	11.29	323	2339.37	0.00	0.00	3.55	0.000	0.000	0.083	2380.94	2441.31	2320.56	2025.81	2007.50	0	0	0	30.00	30.00	15.95
2520.59	10403	240.65	1.92	0.00	2379.5	2440.2	2318.8	2027.0	2007.4	45.36	9.81	347	2530.50	5.22	0.22	0.00	0.818	0.077	0.000	2366.84	2427.44	2306.25	2078.25	2007.44	0	0	0	12.01	16.03	30.00
2720.17	388	240.65	1.95	80.00	2367.7	2428.8	2306.7	2078.7	2007.6	24.33	10.48	386	2732.24	0.00	0.00	3.72	0.000	0.000	0.143	2366.97	2427.38	2306.56	2078.25	3488.62	0	0	0	30.00	30.00	15.99
2861.07	9254	257.70	1.97	0.00	2367.4	2427.7	2307.1	2078.7	3489.2	9.28	9.21	414	2890.64	17.76	0.00	3.54	1.169	0.000	0.081	2297.91	2357.94	2237.88	2079.31	2009.00	0	0	0	12.10	30.00	16.05
3074.58	10663	477.41	2.34	80.00	2295.4	2356.9	2233.9	2078.3	2009.1	5.95	-0.18	456	3107.10	27.80	0.53	0.00	1.196	0.057	0.000	2179.12	2241.38	2116.88	2182.62	2009.81	0	0	0	12.22	16.06	30.00
3108	end climb: NO_VERTICAL_VELOCITY
state	3108	begin surface