Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 23 * 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 23 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 2 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 1.7510167 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.145389 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 1.7510167 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.145389 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 23 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 260623,163326,4736.422,-12256.497,3,0.7,31,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,163901,4736.447,-12256.437,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 197.9,1025,-17.6,-10.000,-21.21,2209,0.150

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.016934,-0.036323,-0.013430,1.067023,-0.081901,0.004424,-0.067849,1.061935,-196.162842,-1202.491089,-757.748840

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687800435,32.5,4,stop _24V_AH 14.92,14.167

NET CACST,8,1,20230626172249.409119,18,32767,45,0222,0110,07,01,01,00,01,1,012,121,3,5,7,6,150,2.4,1.40,-100,1.60,-01,0.80,64,10000,5000,0,1,01,01*6C _10V_AH 14.98,0.000

NET_PING 1687798363,29,361.723480,13.200000,-0.480142 FG_AHR_24Vo 13.395

MODEM_MSG CACST,8,0,20230626172500.253274,18,27926,44,0357,0000,07,01,01,00,02,1,029,121,0,5,1,0,150,10.5,9.93,-100,-6.93,-01,0.26,43,925,0025,0,1,00,00*12 FG_AHR_10Vo 1.797

FREEZE 4.14,14.562,-1.507,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3673.55,280.58,1.158,0,500.8,526.9,474.7,698.91 MEM2 945440,27,101108,74

SM_GC 1.18,0.00,12.27,0.06,0.000,0.056,0.201,497.5,522.7,472.4,192.8,2039.3,0,0,0,30.00,15.57,15.57 DATA_FILE_SIZE 12932,501

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 201298,0

IRIDIUM_FIX 4735.53,-12254.47,260623,163440 SDSIZE 3887104,3865344

TCM_TEMP -86.33 SDFILEDIR 229,24

SC_FREEKB 3871424 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 0,1687798800,47.60500,-122.95000,0.157,230.1 CURRENT 0.013, 51.0,1

RAFOS_FIX 4736.095215,-12256.913086,260623,171700,4,255,0.32 IMPLIED_C_PITCH 1755,13.36,240,0.0,0.00

HUMID 52.10 IMPLIED_C_VBD 3316,20.632618,240,0

TEMP 11.05 GPS 260623,174309,4736.152,-12256.770,1,0.8,3,15.4

INTERNAL_PRESSURE 7.99134

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 802 1347 16131.96 nil 0 0 0.00

Pitch_motor 25 261 99.80 nil 0 0 0.00

Roll_motor 73 290 320.12 nil 0 0 0.00

Iridium 207 147 456.76 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 2341 5 179.62 SciCon 3368 6 326.38

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1447 0 6.94

Compass 1055 5 79.04

RAFOS 1890 40 1132.64

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

6.74 16386 -146.63 -1.44 0.00 494.8 517.1 472.4 191.7 2011.9 0.00 0.00 0 77.98 64.82 0.00 0.00 0.005 0.000 0.000 2332.28 2347.56 2317.00 191.50 2012.12 0 0 0 15.97 30.00 30.00

78.50 18727 -146.63 -1.44 80.00 2331.7 2346.8 2316.7 191.6 2011.4 3.20 -2.99 13 145.91 40.83 7.82 3.72 0.005 0.261 0.136 3948.75 3953.50 3944.00 1252.50 3491.19 0 0 0 15.99 15.86 15.92

309.20 3205 -146.63 -1.23 0.00 3950.9 3958.2 3943.7 1252.4 3490.8 37.64 -16.50 55 317.72 0.00 0.33 3.55 0.000 0.198 0.077 3950.69 3956.75 3944.62 1302.75 2008.62 0 0 0 30.00 15.93 15.97

506.50 388 -146.63 -1.13 80.00 3951.5 3958.8 3944.1 1303.2 2007.5 63.25 -12.69 84 515.39 0.00 0.00 3.73 0.000 0.000 0.132 3952.09 3959.81 3944.38 1303.38 3489.62 0 0 0 30.00 30.00 16.00

564.25 3205 -146.63 -0.99 0.00 3951.3 3958.7 3943.9 1303.1 3491.0 71.90 -15.72 95 573.36 0.00 0.39 3.49 0.000 0.173 0.079 3951.31 3958.19 3944.44 1364.31 2009.38 0 0 0 30.00 16.01 16.02

759.28 388 -146.63 -0.94 80.00 3952.5 3960.8 3944.1 1364.3 2009.4 94.66 -10.84 115 768.16 0.00 0.00 3.72 0.000 0.000 0.134 3951.78 3960.94 3942.62 1364.50 3490.75 0 0 0 30.00 30.00 16.05

807.37 3205 -146.63 -0.76 0.00 3952.4 3960.9 3943.9 1364.3 3490.7 100.46 -12.27 123 816.18 0.00 0.36 3.53 0.000 0.164 0.079 3952.06 3960.00 3944.12 1419.50 2009.12 0 0 0 30.00 15.98 16.01

1003.73 292 -146.63 -0.76 80.00 3953.6 3962.8 3944.4 1420.1 2009.2 117.39 -8.66 143 1012.65 0.00 0.00 3.77 0.000 0.000 0.137 3952.84 3962.19 3943.50 1419.62 3489.50 0 0 0 30.00 30.00 15.94

1161.46 1060 -146.63 -0.76 0.00 3953.2 3962.4 3944.1 1419.4 3489.7 132.89 -9.64 174 1170.51 0.00 0.00 3.57 0.000 0.000 0.081 3954.44 3965.31 3943.56 1419.56 2009.56 0 0 0 30.00 30.00 16.00

1360.42 292 -146.63 -0.76 80.00 3953.5 3963.0 3944.0 1419.7 2010.2 149.55 -8.26 194 1369.56 0.00 0.00 3.76 0.000 0.000 0.138 3954.16 3963.81 3944.50 1419.50 3490.81 0 0 0 30.00 30.00 16.00

1373 end dive: TARGET_DEPTH_EXCEEDED

state 1373 begin apogee

1380.94 10243 0.00 -0.36 0.00 3953.6 3963.1 3944.1 1420.1 2005.9 150.71 -8.43 196 1509.02 114.38 0.62 0.06 1.348 0.136 0.291 3347.50 3387.19 3307.81 1517.31 2040.19 0 0 0 12.10 15.99 15.59

1510 end apogee: CONTROL_FINISHED_OK

state 1510 begin climb

1510.59 10759 146.63 1.44 -80.00 3348.3 3387.9 3308.8 1517.4 2040.2 157.66 0.00 208 1657.35 120.62 2.81 4.16 1.308 0.110 0.184 2751.88 2801.50 2702.25 1951.19 562.31 0 0 0 11.82 15.62 15.39

1745.24 9382 162.07 1.50 0.00 2746.0 2792.0 2700.0 1952.6 562.1 142.93 9.28 250 1769.56 14.41 0.00 3.61 1.169 0.000 0.077 2689.25 2737.06 2641.44 1951.69 2039.31 0 0 0 11.91 30.00 15.64

1955.25 10663 205.26 1.63 80.00 2684.4 2732.9 2635.9 1952.2 2039.1 126.11 8.00 273 2006.33 36.83 0.26 3.76 1.273 0.072 0.147 2511.19 2565.00 2457.38 2013.69 3487.62 0 0 0 11.96 15.80 15.64

2070.06 1028 205.26 1.63 0.00 2509.4 2564.0 2454.8 2013.6 3487.8 114.08 11.10 295 2079.23 0.00 0.00 3.62 0.000 0.000 0.081 2507.78 2561.50 2454.06 2013.06 2007.81 0 0 0 30.00 30.00 15.73

2265.35 420 207.04 1.70 80.00 2507.5 2563.2 2451.8 2014.0 2008.1 94.83 9.92 315 2274.34 0.00 0.00 3.80 0.000 0.000 0.141 2505.91 2561.69 2450.12 2013.44 3488.94 0 0 0 30.00 30.00 15.84

2343.25 1156 207.04 1.73 0.00 2506.8 2562.2 2451.4 2013.6 3488.5 86.09 11.35 330 2352.27 0.00 0.00 3.59 0.000 0.000 0.082 2505.12 2559.69 2450.56 2013.69 2009.00 0 0 0 30.00 30.00 15.87

2538.37 10663 226.65 1.82 80.00 2506.7 2562.2 2451.2 2013.9 2009.5 68.01 9.09 350 2573.75 21.45 0.17 3.82 1.213 0.083 0.144 2424.97 2483.88 2366.06 2059.00 3490.38 0 0 0 11.98 15.95 15.83

2610.28 1028 226.65 1.82 0.00 2423.8 2481.4 2366.3 2058.9 3490.6 60.12 11.63 363 2618.72 0.00 0.00 3.57 0.000 0.000 0.081 2423.69 2480.62 2366.75 2058.69 2009.88 0 0 0 30.00 30.00 15.86

2801.17 388 226.65 1.86 80.00 2422.2 2481.0 2363.5 2058.4 2009.9 39.64 10.34 392 2810.03 0.00 0.00 3.79 0.000 0.000 0.141 2420.31 2477.75 2362.88 2059.00 3490.12 0 0 0 30.00 30.00 15.91

2858.76 1028 226.65 1.86 0.00 2422.0 2480.3 2363.6 2059.3 3490.1 33.00 11.68 403 2870.72 0.00 0.00 3.56 0.000 0.000 0.082 2419.19 2477.31 2361.06 2059.75 2008.69 0 0 0 30.00 30.00 15.93

3054.65 8354 252.81 1.94 0.00 2421.8 2480.0 2363.6 2059.4 2008.5 14.11 8.79 441 3085.33 24.90 0.00 0.00 1.192 0.000 0.000 2290.19 2323.00 2257.38 2057.88 2008.50 0 0 0 11.95 30.00 30.00

3269.68 10663 423.20 2.27 80.00 2314.4 2376.4 2252.4 2059.7 2008.4 5.10 2.11 484 3362.78 83.39 0.56 0.00 1.211 0.057 0.000 1923.31 1996.19 1850.44 2164.44 2008.88 0 0 0 12.02 16.02 30.00

3363 end climb: NO_VERTICAL_VELOCITY

state 3363 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	23	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	2	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	1.7510167	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.145389	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	260623,163326,4736.422,-12256.497,3,0.7,31,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,163901,4736.447,-12256.437,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	197.9,1025,-17.6,-10.000,-21.21,2209,0.150
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.016934,-0.036323,-0.013430,1.067023,-0.081901,0.004424,-0.067849,1.061935,-196.162842,-1202.491089,-757.748840
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687800435,32.5,4,stop	_24V_AH	14.92,14.167
NET	CACST,8,1,20230626172249.409119,18,32767,45,0222,0110,07,01,01,00,01,1,012,121,3,5,7,6,150,2.4,1.40,-100,1.60,-01,0.80,64,10000,5000,0,1,01,01*6C	_10V_AH	14.98,0.000
NET_PING	1687798363,29,361.723480,13.200000,-0.480142	FG_AHR_24Vo	13.395
MODEM_MSG	CACST,8,0,20230626172500.253274,18,27926,44,0357,0000,07,01,01,00,02,1,029,121,0,5,1,0,150,10.5,9.93,-100,-6.93,-01,0.26,43,925,0025,0,1,00,00*12	FG_AHR_10Vo	1.797
FREEZE	4.14,14.562,-1.507,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3673.55,280.58,1.158,0,500.8,526.9,474.7,698.91	MEM2	945440,27,101108,74
SM_GC	1.18,0.00,12.27,0.06,0.000,0.056,0.201,497.5,522.7,472.4,192.8,2039.3,0,0,0,30.00,15.57,15.57	DATA_FILE_SIZE	12932,501
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	201298,0
IRIDIUM_FIX	4735.53,-12254.47,260623,163440	SDSIZE	3887104,3865344
TCM_TEMP	-86.33	SDFILEDIR	229,24
SC_FREEKB	3871424	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	0,1687798800,47.60500,-122.95000,0.157,230.1	CURRENT	0.013, 51.0,1
RAFOS_FIX	4736.095215,-12256.913086,260623,171700,4,255,0.32	IMPLIED_C_PITCH	1755,13.36,240,0.0,0.00
HUMID	52.10	IMPLIED_C_VBD	3316,20.632618,240,0
TEMP	11.05	GPS	260623,174309,4736.152,-12256.770,1,0.8,3,15.4
INTERNAL_PRESSURE	7.99134

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	802	1347	16131.96	nil	0	0	0.00
Pitch_motor	25	261	99.80	nil	0	0	0.00
Roll_motor	73	290	320.12	nil	0	0	0.00
Iridium	207	147	456.76	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	2341	5	179.62	SciCon	3368	6	326.38
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1447	0	6.94
Compass	1055	5	79.04
RAFOS	1890	40	1132.64
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
6.74	16386	-146.63	-1.44	0.00	494.8	517.1	472.4	191.7	2011.9	0.00	0.00	0	77.98	64.82	0.00	0.00	0.005	0.000	0.000	2332.28	2347.56	2317.00	191.50	2012.12	0	0	0	15.97	30.00	30.00
78.50	18727	-146.63	-1.44	80.00	2331.7	2346.8	2316.7	191.6	2011.4	3.20	-2.99	13	145.91	40.83	7.82	3.72	0.005	0.261	0.136	3948.75	3953.50	3944.00	1252.50	3491.19	0	0	0	15.99	15.86	15.92
309.20	3205	-146.63	-1.23	0.00	3950.9	3958.2	3943.7	1252.4	3490.8	37.64	-16.50	55	317.72	0.00	0.33	3.55	0.000	0.198	0.077	3950.69	3956.75	3944.62	1302.75	2008.62	0	0	0	30.00	15.93	15.97
506.50	388	-146.63	-1.13	80.00	3951.5	3958.8	3944.1	1303.2	2007.5	63.25	-12.69	84	515.39	0.00	0.00	3.73	0.000	0.000	0.132	3952.09	3959.81	3944.38	1303.38	3489.62	0	0	0	30.00	30.00	16.00
564.25	3205	-146.63	-0.99	0.00	3951.3	3958.7	3943.9	1303.1	3491.0	71.90	-15.72	95	573.36	0.00	0.39	3.49	0.000	0.173	0.079	3951.31	3958.19	3944.44	1364.31	2009.38	0	0	0	30.00	16.01	16.02
759.28	388	-146.63	-0.94	80.00	3952.5	3960.8	3944.1	1364.3	2009.4	94.66	-10.84	115	768.16	0.00	0.00	3.72	0.000	0.000	0.134	3951.78	3960.94	3942.62	1364.50	3490.75	0	0	0	30.00	30.00	16.05
807.37	3205	-146.63	-0.76	0.00	3952.4	3960.9	3943.9	1364.3	3490.7	100.46	-12.27	123	816.18	0.00	0.36	3.53	0.000	0.164	0.079	3952.06	3960.00	3944.12	1419.50	2009.12	0	0	0	30.00	15.98	16.01
1003.73	292	-146.63	-0.76	80.00	3953.6	3962.8	3944.4	1420.1	2009.2	117.39	-8.66	143	1012.65	0.00	0.00	3.77	0.000	0.000	0.137	3952.84	3962.19	3943.50	1419.62	3489.50	0	0	0	30.00	30.00	15.94
1161.46	1060	-146.63	-0.76	0.00	3953.2	3962.4	3944.1	1419.4	3489.7	132.89	-9.64	174	1170.51	0.00	0.00	3.57	0.000	0.000	0.081	3954.44	3965.31	3943.56	1419.56	2009.56	0	0	0	30.00	30.00	16.00
1360.42	292	-146.63	-0.76	80.00	3953.5	3963.0	3944.0	1419.7	2010.2	149.55	-8.26	194	1369.56	0.00	0.00	3.76	0.000	0.000	0.138	3954.16	3963.81	3944.50	1419.50	3490.81	0	0	0	30.00	30.00	16.00
1373	end dive: TARGET_DEPTH_EXCEEDED
state	1373	begin apogee
1380.94	10243	0.00	-0.36	0.00	3953.6	3963.1	3944.1	1420.1	2005.9	150.71	-8.43	196	1509.02	114.38	0.62	0.06	1.348	0.136	0.291	3347.50	3387.19	3307.81	1517.31	2040.19	0	0	0	12.10	15.99	15.59
1510	end apogee: CONTROL_FINISHED_OK
state	1510	begin climb
1510.59	10759	146.63	1.44	-80.00	3348.3	3387.9	3308.8	1517.4	2040.2	157.66	0.00	208	1657.35	120.62	2.81	4.16	1.308	0.110	0.184	2751.88	2801.50	2702.25	1951.19	562.31	0	0	0	11.82	15.62	15.39
1745.24	9382	162.07	1.50	0.00	2746.0	2792.0	2700.0	1952.6	562.1	142.93	9.28	250	1769.56	14.41	0.00	3.61	1.169	0.000	0.077	2689.25	2737.06	2641.44	1951.69	2039.31	0	0	0	11.91	30.00	15.64
1955.25	10663	205.26	1.63	80.00	2684.4	2732.9	2635.9	1952.2	2039.1	126.11	8.00	273	2006.33	36.83	0.26	3.76	1.273	0.072	0.147	2511.19	2565.00	2457.38	2013.69	3487.62	0	0	0	11.96	15.80	15.64
2070.06	1028	205.26	1.63	0.00	2509.4	2564.0	2454.8	2013.6	3487.8	114.08	11.10	295	2079.23	0.00	0.00	3.62	0.000	0.000	0.081	2507.78	2561.50	2454.06	2013.06	2007.81	0	0	0	30.00	30.00	15.73
2265.35	420	207.04	1.70	80.00	2507.5	2563.2	2451.8	2014.0	2008.1	94.83	9.92	315	2274.34	0.00	0.00	3.80	0.000	0.000	0.141	2505.91	2561.69	2450.12	2013.44	3488.94	0	0	0	30.00	30.00	15.84
2343.25	1156	207.04	1.73	0.00	2506.8	2562.2	2451.4	2013.6	3488.5	86.09	11.35	330	2352.27	0.00	0.00	3.59	0.000	0.000	0.082	2505.12	2559.69	2450.56	2013.69	2009.00	0	0	0	30.00	30.00	15.87
2538.37	10663	226.65	1.82	80.00	2506.7	2562.2	2451.2	2013.9	2009.5	68.01	9.09	350	2573.75	21.45	0.17	3.82	1.213	0.083	0.144	2424.97	2483.88	2366.06	2059.00	3490.38	0	0	0	11.98	15.95	15.83
2610.28	1028	226.65	1.82	0.00	2423.8	2481.4	2366.3	2058.9	3490.6	60.12	11.63	363	2618.72	0.00	0.00	3.57	0.000	0.000	0.081	2423.69	2480.62	2366.75	2058.69	2009.88	0	0	0	30.00	30.00	15.86
2801.17	388	226.65	1.86	80.00	2422.2	2481.0	2363.5	2058.4	2009.9	39.64	10.34	392	2810.03	0.00	0.00	3.79	0.000	0.000	0.141	2420.31	2477.75	2362.88	2059.00	3490.12	0	0	0	30.00	30.00	15.91
2858.76	1028	226.65	1.86	0.00	2422.0	2480.3	2363.6	2059.3	3490.1	33.00	11.68	403	2870.72	0.00	0.00	3.56	0.000	0.000	0.082	2419.19	2477.31	2361.06	2059.75	2008.69	0	0	0	30.00	30.00	15.93
3054.65	8354	252.81	1.94	0.00	2421.8	2480.0	2363.6	2059.4	2008.5	14.11	8.79	441	3085.33	24.90	0.00	0.00	1.192	0.000	0.000	2290.19	2323.00	2257.38	2057.88	2008.50	0	0	0	11.95	30.00	30.00
3269.68	10663	423.20	2.27	80.00	2314.4	2376.4	2252.4	2059.7	2008.4	5.10	2.11	484	3362.78	83.39	0.56	0.00	1.211	0.057	0.000	1923.31	1996.19	1850.44	2164.44	2008.88	0	0	0	12.02	16.02	30.00
3363	end climb: NO_VERTICAL_VELOCITY
state	3363	begin surface