Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 24 * 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 24 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 1.7975725 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.402825 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 1.7975725 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.402825 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 24 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 260623,174309,4736.152,-12256.770,1,0.8,3,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,174858,4736.186,-12256.699,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 183.2,454,-27.2,-10.000,-30.00,969,0.146

SPEED_LIMITS 0.173,0.258 D_GRID 166

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:

NET xmit ok outbox0020.n 1652 26 _24V_AH 14.92,14.434

NET_PING 1687801962,29,302.083496,14.500000,-0.402472 _10V_AH 14.97,0.000

NAV 1687804031,13.8,4,stop FG_AHR_24Vo 13.643

MODEM_MSG CACST,8,0,20230626182500.537144,18,13869,35,0166,0000,216,02,02,01,02,1,029,121,0,5,1,0,150,8.3,3.22,-100,-0.22,-01,0.16,64,925,0025,0,1,00,00*1A FG_AHR_10Vo 1.839

FREEZE 4.17,14.698,-1.489,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3130.06,273.92,1.145,0,500.7,525.4,476.1,698.93 MEM2 945488,26,101080,74

SM_GC 1.76,0.00,12.94,0.08,0.000,0.057,0.200,497.8,521.8,473.9,190.2,2011.0,0,0,0,30.00,15.56,15.55 DATA_FILE_SIZE 12926,449

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 188674,0

IRIDIUM_FIX 4735.53,-12254.47,260623,174426 SDSIZE 3887104,3865056

TCM_TEMP -86.04 SDFILEDIR 237,25

SC_FREEKB 3871104 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 0,1687802400,47.60500,-122.95000,0.330,484.1 CURRENT 0.022, 25.1,1

RAFOS_FIX 4736.236328,-12256.903320,260623,181800,4,255,0.13 MAGCAL 1.000000,0.030379,-0.020672,-0.021913,1.081408,-0.046452,-0.029063,-0.178769,1.050263,-204.1,-1225.4,-754.2,31,0.0581,0

HUMID 52.35 IMPLIED_C_PITCH 1707,13.48,175,0.0,0.00

TEMP 11.61 IMPLIED_C_VBD 3143,136.593796,151,0

INTERNAL_PRESSURE 8.01035 GPS 260623,184411,4735.983,-12256.870,3,0.9,5,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 784 1336 15636.37 nil 0 0 0.00

Pitch_motor 26 265 106.56 nil 0 0 0.00

Roll_motor 66 312 310.57 nil 0 0 0.00

Iridium 219 143 469.79 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.13 nil 0 0 0.00

Core 2117 5 162.29 SciCon 2834 6 280.13

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1148 0 5.50

Compass 957 5 71.64

RAFOS 1691 40 1012.64

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

7.01 16386 -63.69 -2.02 0.00 494.9 516.8 473.1 192.9 2012.7 0.00 0.00 0 78.22 64.75 0.00 0.00 0.005 0.000 0.000 2336.34 2352.88 2319.81 192.88 2012.94 0 0 0 15.97 30.00 30.00

78.75 18727 -129.62 -2.10 80.00 2335.0 2350.8 2319.2 192.7 2012.6 3.24 -3.04 13 144.14 40.58 6.68 3.63 0.005 0.265 0.137 3879.41 3882.19 3876.62 1091.94 3488.69 0 0 0 15.99 15.85 15.90

230.75 3205 -129.62 -1.94 0.00 3880.1 3884.6 3875.6 1091.4 3489.4 28.73 -21.44 40 243.58 0.00 0.26 3.57 0.000 0.230 0.081 3879.78 3883.88 3875.69 1131.31 2012.25 0 0 0 30.00 15.82 15.84

427.90 388 -129.62 -1.84 80.00 3881.1 3886.1 3876.1 1131.3 2012.1 64.52 -17.73 71 436.79 0.00 0.00 3.74 0.000 0.000 0.130 3880.59 3886.06 3875.12 1130.88 3487.88 0 0 0 30.00 30.00 15.86

619.82 3205 -129.62 -1.71 0.00 3880.8 3886.5 3875.1 1131.2 3487.9 106.44 -21.62 107 629.54 0.00 0.38 3.54 0.000 0.210 0.082 3881.22 3887.06 3875.38 1187.94 2011.75 0 0 0 30.00 15.89 15.92

813.42 388 -129.62 -1.67 80.00 3882.3 3888.6 3876.0 1187.9 2011.6 139.54 -16.79 127 822.22 0.00 0.00 3.73 0.000 0.000 0.134 3882.34 3888.19 3876.50 1187.88 3487.62 0 0 0 30.00 30.00 15.96

871 end dive: TARGET_DEPTH_EXCEEDED

state 871 begin apogee

879.02 10243 0.00 -0.36 0.00 3882.7 3888.7 3876.7 1188.0 2011.0 150.75 -20.14 138 996.78 102.48 2.19 0.05 1.336 0.174 0.312 3349.50 3387.38 3311.62 1515.12 2038.50 0 0 0 12.04 15.95 15.60

998 end apogee: CONTROL_FINISHED_OK

state 998 begin climb

998.33 10759 129.62 2.10 -80.00 3348.2 3385.5 3310.9 1515.4 2039.0 159.59 0.00 149 1133.46 106.70 3.86 4.14 1.298 0.108 0.180 2821.16 2866.50 2775.81 2113.81 560.94 0 0 0 11.92 15.62 15.39

1182.21 1028 129.62 2.10 0.00 2816.0 2857.1 2774.8 2113.5 560.9 143.14 14.66 181 1191.37 0.00 0.00 3.63 0.000 0.000 0.078 2818.91 2859.94 2777.88 2113.56 2040.81 0 0 0 30.00 30.00 15.60

1377.40 16774 129.62 2.18 80.00 2812.1 2853.9 2770.3 2113.0 2040.8 117.29 13.01 201 1386.48 0.00 0.00 3.72 0.000 0.000 0.143 2811.00 2852.06 2769.94 2112.88 3490.62 0 0 0 30.00 30.00 15.77

1499.63 19591 129.62 2.22 0.00 2810.8 2851.2 2770.3 2112.9 3490.5 99.97 13.74 225 1508.29 0.00 0.14 3.56 0.000 0.100 0.081 2809.41 2849.56 2769.25 2148.62 2009.38 0 0 0 30.00 15.86 15.84

1695.43 16774 129.62 2.28 80.00 2810.5 2851.4 2769.6 2149.4 2009.9 75.55 11.93 245 1704.52 0.00 0.00 3.77 0.000 0.000 0.139 2809.03 2850.88 2767.19 2150.25 3488.94 0 0 0 30.00 30.00 15.90

1763.26 17414 129.62 2.28 0.00 2810.0 2850.9 2769.0 2149.4 3489.1 66.64 13.17 258 1772.33 0.00 0.00 3.53 0.000 0.000 0.080 2809.66 2851.31 2768.00 2149.38 2009.31 0 0 0 30.00 30.00 15.93

1953.45 16774 129.62 2.35 80.00 2809.5 2850.4 2768.6 2150.1 2009.2 44.56 11.05 282 1962.30 0.00 0.00 3.77 0.000 0.000 0.138 2807.72 2849.44 2766.00 2149.69 3490.88 0 0 0 30.00 30.00 15.95

2080.19 17414 129.62 2.35 0.00 2809.1 2849.1 2769.1 2150.2 3490.0 29.96 11.19 306 2089.05 0.00 0.00 3.52 0.000 0.000 0.080 2809.31 2848.75 2769.88 2149.50 2011.00 0 0 0 30.00 30.00 15.98

2270.15 10919 160.00 2.46 -80.00 2809.1 2849.7 2768.4 2150.1 2010.8 13.37 6.79 343 2311.15 26.62 0.28 3.88 1.185 0.068 0.178 2695.81 2735.81 2655.81 2212.00 562.12 0 0 0 12.05 16.05 15.88

2329.98 9254 172.64 2.47 0.00 2695.9 2736.2 2655.6 2211.8 561.9 8.57 8.67 354 2354.15 13.49 0.00 3.54 1.093 0.000 0.076 2646.88 2690.88 2602.88 2212.12 2042.19 0 0 0 12.01 30.00 15.94

2538.08 10919 278.76 2.67 -80.00 2642.3 2686.7 2597.9 2211.8 2041.6 7.64 -1.21 395 2650.76 90.87 0.20 4.11 1.198 0.082 0.175 2212.44 2274.75 2150.12 2264.31 562.19 0 0 0 12.01 15.98 15.64

2699.77 9382 356.40 2.82 0.00 2208.4 2268.0 2148.8 2263.7 562.2 4.75 1.80 425 2778.83 64.82 0.00 3.58 1.165 0.000 0.074 1896.50 1969.25 1823.75 2264.25 2041.69 0 0 0 11.94 30.00 15.77

2827 end climb: NO_VERTICAL_VELOCITY

state 2827 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	24	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	1.7975725	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.402825	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	260623,174309,4736.152,-12256.770,1,0.8,3,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,174858,4736.186,-12256.699,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	183.2,454,-27.2,-10.000,-30.00,969,0.146
SPEED_LIMITS	0.173,0.258	D_GRID	166
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

NET	xmit ok outbox0020.n 1652 26	_24V_AH	14.92,14.434
NET_PING	1687801962,29,302.083496,14.500000,-0.402472	_10V_AH	14.97,0.000
NAV	1687804031,13.8,4,stop	FG_AHR_24Vo	13.643
MODEM_MSG	CACST,8,0,20230626182500.537144,18,13869,35,0166,0000,216,02,02,01,02,1,029,121,0,5,1,0,150,8.3,3.22,-100,-0.22,-01,0.16,64,925,0025,0,1,00,00*1A	FG_AHR_10Vo	1.839
FREEZE	4.17,14.698,-1.489,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3130.06,273.92,1.145,0,500.7,525.4,476.1,698.93	MEM2	945488,26,101080,74
SM_GC	1.76,0.00,12.94,0.08,0.000,0.057,0.200,497.8,521.8,473.9,190.2,2011.0,0,0,0,30.00,15.56,15.55	DATA_FILE_SIZE	12926,449
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	188674,0
IRIDIUM_FIX	4735.53,-12254.47,260623,174426	SDSIZE	3887104,3865056
TCM_TEMP	-86.04	SDFILEDIR	237,25
SC_FREEKB	3871104	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	0,1687802400,47.60500,-122.95000,0.330,484.1	CURRENT	0.022, 25.1,1
RAFOS_FIX	4736.236328,-12256.903320,260623,181800,4,255,0.13	MAGCAL	1.000000,0.030379,-0.020672,-0.021913,1.081408,-0.046452,-0.029063,-0.178769,1.050263,-204.1,-1225.4,-754.2,31,0.0581,0
HUMID	52.35	IMPLIED_C_PITCH	1707,13.48,175,0.0,0.00
TEMP	11.61	IMPLIED_C_VBD	3143,136.593796,151,0
INTERNAL_PRESSURE	8.01035	GPS	260623,184411,4735.983,-12256.870,3,0.9,5,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	784	1336	15636.37	nil	0	0	0.00
Pitch_motor	26	265	106.56	nil	0	0	0.00
Roll_motor	66	312	310.57	nil	0	0	0.00
Iridium	219	143	469.79	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.13	nil	0	0	0.00
Core	2117	5	162.29	SciCon	2834	6	280.13
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1148	0	5.50
Compass	957	5	71.64
RAFOS	1691	40	1012.64
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
7.01	16386	-63.69	-2.02	0.00	494.9	516.8	473.1	192.9	2012.7	0.00	0.00	0	78.22	64.75	0.00	0.00	0.005	0.000	0.000	2336.34	2352.88	2319.81	192.88	2012.94	0	0	0	15.97	30.00	30.00
78.75	18727	-129.62	-2.10	80.00	2335.0	2350.8	2319.2	192.7	2012.6	3.24	-3.04	13	144.14	40.58	6.68	3.63	0.005	0.265	0.137	3879.41	3882.19	3876.62	1091.94	3488.69	0	0	0	15.99	15.85	15.90
230.75	3205	-129.62	-1.94	0.00	3880.1	3884.6	3875.6	1091.4	3489.4	28.73	-21.44	40	243.58	0.00	0.26	3.57	0.000	0.230	0.081	3879.78	3883.88	3875.69	1131.31	2012.25	0	0	0	30.00	15.82	15.84
427.90	388	-129.62	-1.84	80.00	3881.1	3886.1	3876.1	1131.3	2012.1	64.52	-17.73	71	436.79	0.00	0.00	3.74	0.000	0.000	0.130	3880.59	3886.06	3875.12	1130.88	3487.88	0	0	0	30.00	30.00	15.86
619.82	3205	-129.62	-1.71	0.00	3880.8	3886.5	3875.1	1131.2	3487.9	106.44	-21.62	107	629.54	0.00	0.38	3.54	0.000	0.210	0.082	3881.22	3887.06	3875.38	1187.94	2011.75	0	0	0	30.00	15.89	15.92
813.42	388	-129.62	-1.67	80.00	3882.3	3888.6	3876.0	1187.9	2011.6	139.54	-16.79	127	822.22	0.00	0.00	3.73	0.000	0.000	0.134	3882.34	3888.19	3876.50	1187.88	3487.62	0	0	0	30.00	30.00	15.96
871	end dive: TARGET_DEPTH_EXCEEDED
state	871	begin apogee
879.02	10243	0.00	-0.36	0.00	3882.7	3888.7	3876.7	1188.0	2011.0	150.75	-20.14	138	996.78	102.48	2.19	0.05	1.336	0.174	0.312	3349.50	3387.38	3311.62	1515.12	2038.50	0	0	0	12.04	15.95	15.60
998	end apogee: CONTROL_FINISHED_OK
state	998	begin climb
998.33	10759	129.62	2.10	-80.00	3348.2	3385.5	3310.9	1515.4	2039.0	159.59	0.00	149	1133.46	106.70	3.86	4.14	1.298	0.108	0.180	2821.16	2866.50	2775.81	2113.81	560.94	0	0	0	11.92	15.62	15.39
1182.21	1028	129.62	2.10	0.00	2816.0	2857.1	2774.8	2113.5	560.9	143.14	14.66	181	1191.37	0.00	0.00	3.63	0.000	0.000	0.078	2818.91	2859.94	2777.88	2113.56	2040.81	0	0	0	30.00	30.00	15.60
1377.40	16774	129.62	2.18	80.00	2812.1	2853.9	2770.3	2113.0	2040.8	117.29	13.01	201	1386.48	0.00	0.00	3.72	0.000	0.000	0.143	2811.00	2852.06	2769.94	2112.88	3490.62	0	0	0	30.00	30.00	15.77
1499.63	19591	129.62	2.22	0.00	2810.8	2851.2	2770.3	2112.9	3490.5	99.97	13.74	225	1508.29	0.00	0.14	3.56	0.000	0.100	0.081	2809.41	2849.56	2769.25	2148.62	2009.38	0	0	0	30.00	15.86	15.84
1695.43	16774	129.62	2.28	80.00	2810.5	2851.4	2769.6	2149.4	2009.9	75.55	11.93	245	1704.52	0.00	0.00	3.77	0.000	0.000	0.139	2809.03	2850.88	2767.19	2150.25	3488.94	0	0	0	30.00	30.00	15.90
1763.26	17414	129.62	2.28	0.00	2810.0	2850.9	2769.0	2149.4	3489.1	66.64	13.17	258	1772.33	0.00	0.00	3.53	0.000	0.000	0.080	2809.66	2851.31	2768.00	2149.38	2009.31	0	0	0	30.00	30.00	15.93
1953.45	16774	129.62	2.35	80.00	2809.5	2850.4	2768.6	2150.1	2009.2	44.56	11.05	282	1962.30	0.00	0.00	3.77	0.000	0.000	0.138	2807.72	2849.44	2766.00	2149.69	3490.88	0	0	0	30.00	30.00	15.95
2080.19	17414	129.62	2.35	0.00	2809.1	2849.1	2769.1	2150.2	3490.0	29.96	11.19	306	2089.05	0.00	0.00	3.52	0.000	0.000	0.080	2809.31	2848.75	2769.88	2149.50	2011.00	0	0	0	30.00	30.00	15.98
2270.15	10919	160.00	2.46	-80.00	2809.1	2849.7	2768.4	2150.1	2010.8	13.37	6.79	343	2311.15	26.62	0.28	3.88	1.185	0.068	0.178	2695.81	2735.81	2655.81	2212.00	562.12	0	0	0	12.05	16.05	15.88
2329.98	9254	172.64	2.47	0.00	2695.9	2736.2	2655.6	2211.8	561.9	8.57	8.67	354	2354.15	13.49	0.00	3.54	1.093	0.000	0.076	2646.88	2690.88	2602.88	2212.12	2042.19	0	0	0	12.01	30.00	15.94
2538.08	10919	278.76	2.67	-80.00	2642.3	2686.7	2597.9	2211.8	2041.6	7.64	-1.21	395	2650.76	90.87	0.20	4.11	1.198	0.082	0.175	2212.44	2274.75	2150.12	2264.31	562.19	0	0	0	12.01	15.98	15.64
2699.77	9382	356.40	2.82	0.00	2208.4	2268.0	2148.8	2263.7	562.2	4.75	1.80	425	2778.83	64.82	0.00	3.58	1.165	0.000	0.074	1896.50	1969.25	1823.75	2264.25	2041.69	0	0	0	11.94	30.00	15.77
2827	end climb: NO_VERTICAL_VELOCITY
state	2827	begin surface