Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 20 * 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 20 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 1.6110374 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 12.372331 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 1.6110374 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.372331 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 20 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 260623,132032,4735.952,-12256.768,1,0.9,22,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,132353,4735.962,-12256.729,2,0.6,3,15.4 MHEAD_RNG_PITCHd_Wd 355.1,1100,-17.6,-10.000,-21.21,2209,0.126

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 8000266

Post-dive calculations and measurements:

NAV 1687787941,95.8,start _10V_AH 14.91,0.000

NET CACST,8,0,20230626140742.827807,18,32767,45,0102,0113,07,00,00,00,00,1,029,252,0,5,1,0,150,10.6,6.35,-100,-3.35,-01,-0.06,73,10000,5000,0,-1,00,00*78 FG_AHR_24Vo 12.625

NET_PING 1687788464,29,334.330505,10.600000,-0.442867 FG_AHR_10Vo 1.659

FREEZE 5.46,14.263,-1.512,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3499.04,329.00,1.176,0,501.0,526.6,475.4,698.87 MEM2 945424,26,101144,74

SM_GC 1.50,0.00,12.62,0.06,0.000,0.062,0.202,497.5,522.4,472.6,191.6,2040.3,0,0,0,30.00,15.55,15.56 DATA_FILE_SIZE 12914,477

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 192442,0

IRIDIUM_FIX 4735.53,-12254.47,260623,121443 SDSIZE 3887104,3866368

TCM_TEMP -86.30 SDFILEDIR 204,21

SC_FREEKB 3872384 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

RAFOS_FIX 4736.460938,-12257.000000,260623,020200,2,510,0.36 CURRENT 0.039, 79.7,1

HUMID 52.36 IMPLIED_C_PITCH 1771,13.29,222,0.0,0.00

TEMP 11.36 IMPLIED_C_VBD 3306,15.483612,222,0

INTERNAL_PRESSURE 7.99738 GPS 260623,142504,4736.363,-12256.552,0,0.9,2,15.4

_24V_AH 14.88,13.302

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 805 1354 16228.69 nil 0 0 0.00

Pitch_motor 26 261 102.15 nil 0 0 0.00

Roll_motor 66 330 325.78 nil 0 0 0.00

Iridium 132 136 268.84 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 2197 5 167.74 SciCon 3141 6 299.82

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1229 0 5.87

Compass 1001 5 74.68

RAFOS 592 40 353.57

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 0.00 495.1 517.7 472.4 190.9 2012.1 0.00 0.00 0 67.15 54.76 0.00 0.00 0.005 0.000 0.000 2052.78 2039.25 2066.31 190.81 2011.50 0 0 0 15.89 30.00 30.00

67.68 18983 -146.63 -1.44 -80.00 2085.7 2104.9 2066.5 190.9 2011.9 3.13 -3.26 11 145.04 49.88 7.91 3.84 0.005 0.262 0.172 3949.44 3953.31 3945.56 1252.06 559.62 0 0 0 15.91 15.77 15.83

303.82 3205 -146.63 -1.22 0.00 3950.7 3956.2 3945.2 1252.5 559.7 43.63 -19.94 56 312.34 0.00 0.35 3.54 0.000 0.200 0.079 3950.31 3956.12 3944.50 1305.06 2037.19 0 0 0 30.00 15.90 15.94

496.04 388 -146.63 -1.13 80.00 3951.7 3958.2 3945.2 1305.3 2037.1 71.04 -13.87 79 504.93 0.00 0.00 3.66 0.000 0.000 0.145 3952.09 3957.44 3946.75 1305.12 3490.56 0 0 0 30.00 30.00 15.98

603.80 3205 -146.63 -1.01 0.00 3951.7 3958.3 3945.0 1305.6 3490.1 87.36 -15.22 100 613.02 0.00 0.34 3.53 0.000 0.173 0.079 3951.25 3957.88 3944.62 1358.44 2011.50 0 0 0 30.00 16.00 16.02

800.81 388 -146.63 -0.97 80.00 3951.9 3959.0 3944.9 1358.2 2011.0 109.22 -10.87 120 812.90 0.00 0.00 3.71 0.000 0.000 0.139 3952.34 3959.62 3945.06 1359.38 3493.12 0 0 0 30.00 30.00 16.01

911.88 3205 -146.63 -0.79 0.00 3951.9 3959.0 3944.8 1359.8 3493.6 123.74 -12.56 142 925.34 0.00 0.34 3.57 0.000 0.167 0.081 3951.78 3958.56 3945.00 1411.88 2010.94 0 0 0 30.00 15.90 15.92

1111.81 292 -146.63 -0.79 80.00 3952.7 3960.8 3944.6 1411.4 2009.9 141.68 -8.78 163 1120.83 0.00 0.00 3.73 0.000 0.000 0.141 3951.88 3959.31 3944.44 1410.81 3488.75 0 0 0 30.00 30.00 15.94

1198 end dive: TARGET_DEPTH_EXCEEDED

state 1198 begin apogee

1206.38 10243 0.00 -0.36 0.00 3952.6 3960.9 3944.4 1411.2 2010.9 150.22 -10.16 178 1334.48 114.36 0.68 0.05 1.355 0.139 0.330 3349.56 3389.31 3309.81 1516.75 2036.75 0 0 0 11.87 15.95 15.56

1336 end apogee: CONTROL_FINISHED_OK

state 1336 begin climb

1336.02 10759 146.63 1.44 -80.00 3348.1 3387.2 3308.9 1516.6 2037.1 157.15 0.00 190 1483.98 121.14 2.84 4.14 1.314 0.111 0.188 2749.09 2799.19 2699.00 1950.50 561.25 0 0 0 11.76 15.59 15.38

1512.98 11431 200.06 1.55 0.00 2747.7 2794.8 2700.6 1950.8 561.2 148.74 7.53 221 1574.16 45.79 0.15 3.63 1.275 0.097 0.077 2533.16 2589.50 2476.81 1989.75 2040.81 0 0 0 11.75 15.58 15.57

1755.15 8614 218.50 1.64 80.00 2528.6 2584.2 2473.0 1988.9 2039.9 127.09 9.15 251 1783.88 16.83 0.00 3.74 1.202 0.000 0.149 2459.31 2515.69 2402.94 1988.94 3491.56 0 0 0 11.75 30.00 15.65

1877.79 1156 218.50 1.70 0.00 2455.7 2512.8 2398.7 1990.1 3492.0 114.45 10.48 275 1886.68 0.00 0.00 3.60 0.000 0.000 0.083 2452.53 2510.44 2394.62 1989.56 2010.25 0 0 0 30.00 30.00 15.78

2072.90 10663 238.22 1.81 80.00 2454.3 2512.6 2396.1 1989.8 2010.1 96.19 9.09 295 2103.00 18.10 0.29 3.78 1.212 0.067 0.143 2376.31 2435.88 2316.75 2057.75 3490.69 0 0 0 11.98 15.92 15.80

2145.96 1028 238.22 1.81 0.00 2376.5 2435.8 2317.2 2058.1 3489.8 87.49 12.71 307 2154.50 0.00 0.00 3.58 0.000 0.000 0.083 2377.72 2437.06 2318.38 2058.62 2010.06 0 0 0 30.00 30.00 15.83

2341.92 388 238.22 1.85 80.00 2374.9 2435.5 2314.2 2057.9 2010.6 65.30 11.03 327 2351.01 0.00 0.00 3.77 0.000 0.000 0.143 2376.31 2435.94 2316.69 2057.12 3487.94 0 0 0 30.00 30.00 15.90

2419.74 1028 238.22 1.85 0.00 2374.6 2435.0 2314.2 2058.4 3488.1 55.77 12.41 342 2428.80 0.00 0.00 3.54 0.000 0.000 0.082 2373.81 2433.62 2314.00 2058.38 2011.56 0 0 0 30.00 30.00 15.93

2614.14 128 238.22 1.90 0.00 2374.0 2434.4 2313.6 2058.7 2011.0 34.77 10.36 375 2618.03 0.00 0.00 0.00 0.000 0.000 0.000 2373.84 2433.88 2313.81 2058.50 2011.19 0 0 0 30.00 30.00 30.00

2799.25 8614 255.53 1.98 80.00 2373.9 2434.8 2312.9 2057.6 2011.8 16.95 9.20 412 2828.82 17.45 0.00 3.77 1.170 0.000 0.146 2306.25 2366.50 2246.00 2057.94 3488.44 0 0 0 12.02 30.00 15.90

2897.82 11431 287.80 2.07 0.00 2305.3 2366.1 2244.5 2057.9 3488.6 8.11 8.51 431 2939.98 30.05 0.28 3.54 1.193 0.068 0.081 2175.22 2238.62 2111.81 2121.50 2009.31 0 0 0 11.99 15.96 15.94

3123.91 10403 510.92 2.43 0.00 2170.9 2234.8 2106.9 2121.8 2009.9 5.51 -0.33 475 3134.30 7.70 0.41 0.00 0.987 0.061 0.000 2148.97 2212.88 2085.06 2207.12 2009.31 0 0 0 11.97 15.94 30.00

3135 end climb: NO_VERTICAL_VELOCITY

state 3135 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	20	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	1.6110374	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	12.372331	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	260623,132032,4735.952,-12256.768,1,0.9,22,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,132353,4735.962,-12256.729,2,0.6,3,15.4	MHEAD_RNG_PITCHd_Wd	355.1,1100,-17.6,-10.000,-21.21,2209,0.126
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	8000266

NAV	1687787941,95.8,start	_10V_AH	14.91,0.000
NET	CACST,8,0,20230626140742.827807,18,32767,45,0102,0113,07,00,00,00,00,1,029,252,0,5,1,0,150,10.6,6.35,-100,-3.35,-01,-0.06,73,10000,5000,0,-1,00,00*78	FG_AHR_24Vo	12.625
NET_PING	1687788464,29,334.330505,10.600000,-0.442867	FG_AHR_10Vo	1.659
FREEZE	5.46,14.263,-1.512,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3499.04,329.00,1.176,0,501.0,526.6,475.4,698.87	MEM2	945424,26,101144,74
SM_GC	1.50,0.00,12.62,0.06,0.000,0.062,0.202,497.5,522.4,472.6,191.6,2040.3,0,0,0,30.00,15.55,15.56	DATA_FILE_SIZE	12914,477
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	192442,0
IRIDIUM_FIX	4735.53,-12254.47,260623,121443	SDSIZE	3887104,3866368
TCM_TEMP	-86.30	SDFILEDIR	204,21
SC_FREEKB	3872384	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
RAFOS_FIX	4736.460938,-12257.000000,260623,020200,2,510,0.36	CURRENT	0.039, 79.7,1
HUMID	52.36	IMPLIED_C_PITCH	1771,13.29,222,0.0,0.00
TEMP	11.36	IMPLIED_C_VBD	3306,15.483612,222,0
INTERNAL_PRESSURE	7.99738	GPS	260623,142504,4736.363,-12256.552,0,0.9,2,15.4
_24V_AH	14.88,13.302

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	805	1354	16228.69	nil	0	0	0.00
Pitch_motor	26	261	102.15	nil	0	0	0.00
Roll_motor	66	330	325.78	nil	0	0	0.00
Iridium	132	136	268.84	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	2197	5	167.74	SciCon	3141	6	299.82
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1229	0	5.87
Compass	1001	5	74.68
RAFOS	592	40	353.57
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	495.1	517.7	472.4	190.9	2012.1	0.00	0.00	0	67.15	54.76	0.00	0.00	0.005	0.000	0.000	2052.78	2039.25	2066.31	190.81	2011.50	0	0	0	15.89	30.00	30.00
67.68	18983	-146.63	-1.44	-80.00	2085.7	2104.9	2066.5	190.9	2011.9	3.13	-3.26	11	145.04	49.88	7.91	3.84	0.005	0.262	0.172	3949.44	3953.31	3945.56	1252.06	559.62	0	0	0	15.91	15.77	15.83
303.82	3205	-146.63	-1.22	0.00	3950.7	3956.2	3945.2	1252.5	559.7	43.63	-19.94	56	312.34	0.00	0.35	3.54	0.000	0.200	0.079	3950.31	3956.12	3944.50	1305.06	2037.19	0	0	0	30.00	15.90	15.94
496.04	388	-146.63	-1.13	80.00	3951.7	3958.2	3945.2	1305.3	2037.1	71.04	-13.87	79	504.93	0.00	0.00	3.66	0.000	0.000	0.145	3952.09	3957.44	3946.75	1305.12	3490.56	0	0	0	30.00	30.00	15.98
603.80	3205	-146.63	-1.01	0.00	3951.7	3958.3	3945.0	1305.6	3490.1	87.36	-15.22	100	613.02	0.00	0.34	3.53	0.000	0.173	0.079	3951.25	3957.88	3944.62	1358.44	2011.50	0	0	0	30.00	16.00	16.02
800.81	388	-146.63	-0.97	80.00	3951.9	3959.0	3944.9	1358.2	2011.0	109.22	-10.87	120	812.90	0.00	0.00	3.71	0.000	0.000	0.139	3952.34	3959.62	3945.06	1359.38	3493.12	0	0	0	30.00	30.00	16.01
911.88	3205	-146.63	-0.79	0.00	3951.9	3959.0	3944.8	1359.8	3493.6	123.74	-12.56	142	925.34	0.00	0.34	3.57	0.000	0.167	0.081	3951.78	3958.56	3945.00	1411.88	2010.94	0	0	0	30.00	15.90	15.92
1111.81	292	-146.63	-0.79	80.00	3952.7	3960.8	3944.6	1411.4	2009.9	141.68	-8.78	163	1120.83	0.00	0.00	3.73	0.000	0.000	0.141	3951.88	3959.31	3944.44	1410.81	3488.75	0	0	0	30.00	30.00	15.94
1198	end dive: TARGET_DEPTH_EXCEEDED
state	1198	begin apogee
1206.38	10243	0.00	-0.36	0.00	3952.6	3960.9	3944.4	1411.2	2010.9	150.22	-10.16	178	1334.48	114.36	0.68	0.05	1.355	0.139	0.330	3349.56	3389.31	3309.81	1516.75	2036.75	0	0	0	11.87	15.95	15.56
1336	end apogee: CONTROL_FINISHED_OK
state	1336	begin climb
1336.02	10759	146.63	1.44	-80.00	3348.1	3387.2	3308.9	1516.6	2037.1	157.15	0.00	190	1483.98	121.14	2.84	4.14	1.314	0.111	0.188	2749.09	2799.19	2699.00	1950.50	561.25	0	0	0	11.76	15.59	15.38
1512.98	11431	200.06	1.55	0.00	2747.7	2794.8	2700.6	1950.8	561.2	148.74	7.53	221	1574.16	45.79	0.15	3.63	1.275	0.097	0.077	2533.16	2589.50	2476.81	1989.75	2040.81	0	0	0	11.75	15.58	15.57
1755.15	8614	218.50	1.64	80.00	2528.6	2584.2	2473.0	1988.9	2039.9	127.09	9.15	251	1783.88	16.83	0.00	3.74	1.202	0.000	0.149	2459.31	2515.69	2402.94	1988.94	3491.56	0	0	0	11.75	30.00	15.65
1877.79	1156	218.50	1.70	0.00	2455.7	2512.8	2398.7	1990.1	3492.0	114.45	10.48	275	1886.68	0.00	0.00	3.60	0.000	0.000	0.083	2452.53	2510.44	2394.62	1989.56	2010.25	0	0	0	30.00	30.00	15.78
2072.90	10663	238.22	1.81	80.00	2454.3	2512.6	2396.1	1989.8	2010.1	96.19	9.09	295	2103.00	18.10	0.29	3.78	1.212	0.067	0.143	2376.31	2435.88	2316.75	2057.75	3490.69	0	0	0	11.98	15.92	15.80
2145.96	1028	238.22	1.81	0.00	2376.5	2435.8	2317.2	2058.1	3489.8	87.49	12.71	307	2154.50	0.00	0.00	3.58	0.000	0.000	0.083	2377.72	2437.06	2318.38	2058.62	2010.06	0	0	0	30.00	30.00	15.83
2341.92	388	238.22	1.85	80.00	2374.9	2435.5	2314.2	2057.9	2010.6	65.30	11.03	327	2351.01	0.00	0.00	3.77	0.000	0.000	0.143	2376.31	2435.94	2316.69	2057.12	3487.94	0	0	0	30.00	30.00	15.90
2419.74	1028	238.22	1.85	0.00	2374.6	2435.0	2314.2	2058.4	3488.1	55.77	12.41	342	2428.80	0.00	0.00	3.54	0.000	0.000	0.082	2373.81	2433.62	2314.00	2058.38	2011.56	0	0	0	30.00	30.00	15.93
2614.14	128	238.22	1.90	0.00	2374.0	2434.4	2313.6	2058.7	2011.0	34.77	10.36	375	2618.03	0.00	0.00	0.00	0.000	0.000	0.000	2373.84	2433.88	2313.81	2058.50	2011.19	0	0	0	30.00	30.00	30.00
2799.25	8614	255.53	1.98	80.00	2373.9	2434.8	2312.9	2057.6	2011.8	16.95	9.20	412	2828.82	17.45	0.00	3.77	1.170	0.000	0.146	2306.25	2366.50	2246.00	2057.94	3488.44	0	0	0	12.02	30.00	15.90
2897.82	11431	287.80	2.07	0.00	2305.3	2366.1	2244.5	2057.9	3488.6	8.11	8.51	431	2939.98	30.05	0.28	3.54	1.193	0.068	0.081	2175.22	2238.62	2111.81	2121.50	2009.31	0	0	0	11.99	15.96	15.94
3123.91	10403	510.92	2.43	0.00	2170.9	2234.8	2106.9	2121.8	2009.9	5.51	-0.33	475	3134.30	7.70	0.41	0.00	0.987	0.061	0.000	2148.97	2212.88	2085.06	2207.12	2009.31	0	0	0	11.97	15.94	30.00
3135	end climb: NO_VERTICAL_VELOCITY
state	3135	begin surface