Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 26 * 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 26 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 40 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 1.8865681 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.90487 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 40 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 1.8865681 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.90487 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 26 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 260623,194940,4736.285,-12256.608,34,0.8,35,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,195331,4736.310,-12256.557,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 353.4,422,-27.2,-10.000,-30.00,969,0.144

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N 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 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230626203740.071290,18,32767,45,0101,0113,07,00,00,00,00,1,012,121,0,5,7,0,150,15.7,11.96,-100,-8.96,-01,-0.37,73,10000,5000,0,1,01,00*6C _24V_AH 14.77,14.975

NET_PING 1687809267,29,291.770996,8.800000,-0.388917 _10V_AH 14.81,0.000

NAV 1687811234,47.7,3,stop FG_AHR_24Vo 14.142

MODEM_MSG CACST,8,0,20230626202500.301658,18,32767,45,0275,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,16.5,12.87,-100,-9.87,-01,0.13,39,925,0025,0,1,00,00*2B FG_AHR_10Vo 1.942

FREEZE 6.67,12.281,-1.580,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3046.39,376.11,1.151,0,501.1,527.2,474.9,698.84 MEM2 930448,25,116060,78

SM_GC 4.01,0.00,13.10,0.09,0.000,0.059,0.199,497.0,523.1,470.8,188.1,2008.3,0,0,0,30.00,15.52,15.50 DATA_FILE_SIZE 9739,408

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 185904,0

IRIDIUM_FIX 4736.87,-12256.21,260623,184524 SDSIZE 3887104,3864352

TCM_TEMP -86.19 SDFILEDIR 255,27

SC_FREEKB 3870464 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 0,1687809600,47.60500,-122.95000,0.133,194.2 CURRENT 0.042, 41.9,1

RAFOS_FIX -22722.197266,5727.571289,260623,202000,3,255,17700.21 MAGCAL 1.000000,0.099225,-0.230123,-0.070592,1.160834,0.154202,0.275050,-0.221317,1.117809,-60.8,-1301.0,-872.4,36,0.0945,0

HUMID 52.67 IMPLIED_C_PITCH 1727,14.45,182,0.0,0.00

TEMP 11.36 IMPLIED_C_VBD 3228,26.416706,148,0

INTERNAL_PRESSURE 8.00664 GPS 260623,204628,4736.602,-12256.452,21,1.6,27,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 775 1337 15313.49 nil 0 0 0.00

Pitch_motor 27 258 104.36 nil 0 0 0.00

Roll_motor 59 291 255.56 nil 0 0 0.00

Iridium 161 151 361.48 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 1868 5 141.71 SciCon 2637 6 255.37

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1017 0 4.82

Compass 868 5 64.33

RAFOS 1695 40 1004.71

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 0.00 494.6 517.2 472.1 190.6 2012.1 0.00 0.00 0 59.42 47.42 0.00 0.00 0.005 0.000 0.000 1920.50 1941.94 1899.06 190.62 2012.25 0 0 0 14.84 30.00 30.00

59.95 18983 -124.24 -2.10 -80.00 1920.9 1943.9 1897.9 190.9 2012.4 3.30 -3.61 8 142.36 52.49 6.77 3.84 0.005 0.259 0.168 3856.28 3859.56 3853.00 1092.38 560.00 0 0 0 14.89 15.26 15.72

161.20 3205 -124.24 -1.80 0.00 3857.5 3861.5 3853.5 1091.9 559.6 15.10 -19.43 26 174.33 0.00 0.51 3.60 0.000 0.233 0.077 3857.41 3860.81 3854.00 1165.19 2033.69 0 0 0 30.00 15.66 15.70

357.62 644 -124.24 -1.73 -80.00 3859.1 3864.3 3853.9 1164.6 2033.2 48.70 -16.24 63 366.51 0.00 0.00 3.96 0.000 0.000 0.164 3858.66 3863.69 3853.62 1165.00 560.00 0 0 0 30.00 30.00 15.80

529.63 3205 -124.24 -1.59 0.00 3858.7 3864.0 3853.4 1165.0 560.2 84.67 -21.69 97 539.40 0.00 0.34 3.58 0.000 0.209 0.079 3859.12 3864.50 3853.75 1215.81 2036.75 0 0 0 30.00 15.85 15.88

723.02 260 -124.24 -1.59 80.00 3859.5 3865.7 3853.2 1215.5 2036.8 116.06 -15.94 117 732.02 0.00 0.00 3.70 0.000 0.000 0.144 3858.78 3864.94 3852.62 1215.62 3491.19 0 0 0 30.00 30.00 15.93

834.41 1156 -124.24 -1.52 0.00 3859.7 3865.9 3853.4 1215.5 3491.3 136.43 -19.03 138 843.05 0.00 0.00 3.60 0.000 0.000 0.080 3783.72 3713.44 3854.00 1215.00 2011.25 0 0 0 30.00 30.00 15.95

919 end dive: TARGET_DEPTH_EXCEEDED

state 919 begin apogee

921.00 10243 0.00 -0.36 0.00 3860.5 3867.2 3853.9 1216.2 2041.3 150.71 -16.44 147 1034.88 99.12 2.03 0.07 1.338 0.165 0.291 3348.19 3385.81 3310.56 1516.19 2010.94 0 0 0 12.20 15.93 15.59

1036 end apogee: CONTROL_FINISHED_OK

state 1036 begin climb

1036.42 10759 124.24 2.10 -80.00 3348.0 3384.9 3311.1 1515.5 2011.9 157.44 0.00 157 1168.35 104.14 3.87 4.12 1.300 0.106 0.182 2842.69 2887.56 2797.81 2110.94 562.88 0 0 0 11.88 15.63 15.40

1231.32 1028 124.24 2.10 0.00 2837.4 2878.1 2796.6 2110.8 562.3 140.02 14.47 192 1239.97 0.00 0.00 3.62 0.000 0.000 0.077 2836.88 2877.12 2796.62 2111.81 2039.50 0 0 0 30.00 30.00 15.63

1427.29 16774 124.24 2.18 80.00 2834.4 2876.2 2792.6 2111.5 2039.3 115.61 12.05 212 1436.29 0.00 0.00 3.67 0.000 0.000 0.143 2832.28 2873.50 2791.06 2111.50 3490.62 0 0 0 30.00 30.00 15.78

1485.20 17542 124.24 2.21 0.00 2833.0 2874.2 2791.8 2111.6 3489.6 108.11 12.85 223 1494.20 0.00 0.00 3.57 0.000 0.000 0.080 2821.12 2850.88 2791.38 2109.25 2009.00 0 0 0 30.00 30.00 15.83

1680.23 18823 124.24 2.29 80.00 2832.6 2873.8 2791.4 2111.5 2009.2 85.16 11.39 243 1689.71 0.00 0.26 3.74 0.000 0.076 0.138 2829.91 2871.12 2788.69 2171.31 3490.19 0 0 0 30.00 15.91 15.89

1762.20 17414 124.24 2.29 0.00 2831.8 2872.8 2790.8 2171.2 3489.9 74.27 13.29 258 1771.29 0.00 0.00 3.52 0.000 0.000 0.080 2830.38 2871.25 2789.50 2171.38 2008.88 0 0 0 30.00 30.00 15.92

1957.42 16774 124.24 2.34 80.00 2831.8 2872.5 2791.1 2171.6 2009.1 51.63 11.04 278 1966.50 0.00 0.00 3.71 0.000 0.000 0.138 2811.72 2833.31 2790.12 2168.56 3490.62 0 0 0 30.00 30.00 15.94

2122.22 17414 124.24 2.34 0.00 2830.9 2870.6 2791.1 2171.8 3491.9 32.09 11.27 310 2130.97 0.00 0.00 3.50 0.000 0.000 0.079 2829.59 2870.31 2788.88 2171.81 2008.19 0 0 0 30.00 30.00 16.01

2314.92 8870 150.52 2.42 -80.00 2830.7 2870.9 2790.4 2171.2 2007.2 15.12 7.22 348 2350.20 23.05 0.00 3.88 1.185 0.000 0.176 2735.06 2775.31 2694.81 2171.50 561.12 0 0 0 12.10 30.00 15.92

2354.33 11431 184.25 2.51 0.00 2734.9 2775.2 2694.6 2171.5 561.2 12.68 6.44 355 2400.41 31.74 0.23 3.52 1.179 0.074 0.073 2597.47 2641.19 2553.75 2220.75 2042.94 0 0 0 12.07 15.98 15.98

2584.34 10663 279.55 2.70 80.00 2593.2 2638.4 2548.0 2220.7 2043.1 7.24 -0.07 400 2631.06 41.01 0.19 0.00 1.190 0.080 0.000 2411.22 2466.44 2356.00 2273.25 2042.75 0 0 0 12.08 15.97 30.00

2631 end climb: NO_VERTICAL_VELOCITY

state 2632 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	26	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	40	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	1.8865681	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.90487	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	260623,194940,4736.285,-12256.608,34,0.8,35,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,195331,4736.310,-12256.557,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	353.4,422,-27.2,-10.000,-30.00,969,0.144
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000266

NET	CACST,8,0,20230626203740.071290,18,32767,45,0101,0113,07,00,00,00,00,1,012,121,0,5,7,0,150,15.7,11.96,-100,-8.96,-01,-0.37,73,10000,5000,0,1,01,00*6C	_24V_AH	14.77,14.975
NET_PING	1687809267,29,291.770996,8.800000,-0.388917	_10V_AH	14.81,0.000
NAV	1687811234,47.7,3,stop	FG_AHR_24Vo	14.142
MODEM_MSG	CACST,8,0,20230626202500.301658,18,32767,45,0275,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,16.5,12.87,-100,-9.87,-01,0.13,39,925,0025,0,1,00,00*2B	FG_AHR_10Vo	1.942
FREEZE	6.67,12.281,-1.580,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3046.39,376.11,1.151,0,501.1,527.2,474.9,698.84	MEM2	930448,25,116060,78
SM_GC	4.01,0.00,13.10,0.09,0.000,0.059,0.199,497.0,523.1,470.8,188.1,2008.3,0,0,0,30.00,15.52,15.50	DATA_FILE_SIZE	9739,408
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	185904,0
IRIDIUM_FIX	4736.87,-12256.21,260623,184524	SDSIZE	3887104,3864352
TCM_TEMP	-86.19	SDFILEDIR	255,27
SC_FREEKB	3870464	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	0,1687809600,47.60500,-122.95000,0.133,194.2	CURRENT	0.042, 41.9,1
RAFOS_FIX	-22722.197266,5727.571289,260623,202000,3,255,17700.21	MAGCAL	1.000000,0.099225,-0.230123,-0.070592,1.160834,0.154202,0.275050,-0.221317,1.117809,-60.8,-1301.0,-872.4,36,0.0945,0
HUMID	52.67	IMPLIED_C_PITCH	1727,14.45,182,0.0,0.00
TEMP	11.36	IMPLIED_C_VBD	3228,26.416706,148,0
INTERNAL_PRESSURE	8.00664	GPS	260623,204628,4736.602,-12256.452,21,1.6,27,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	775	1337	15313.49	nil	0	0	0.00
Pitch_motor	27	258	104.36	nil	0	0	0.00
Roll_motor	59	291	255.56	nil	0	0	0.00
Iridium	161	151	361.48	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	1868	5	141.71	SciCon	2637	6	255.37
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1017	0	4.82
Compass	868	5	64.33
RAFOS	1695	40	1004.71
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	494.6	517.2	472.1	190.6	2012.1	0.00	0.00	0	59.42	47.42	0.00	0.00	0.005	0.000	0.000	1920.50	1941.94	1899.06	190.62	2012.25	0	0	0	14.84	30.00	30.00
59.95	18983	-124.24	-2.10	-80.00	1920.9	1943.9	1897.9	190.9	2012.4	3.30	-3.61	8	142.36	52.49	6.77	3.84	0.005	0.259	0.168	3856.28	3859.56	3853.00	1092.38	560.00	0	0	0	14.89	15.26	15.72
161.20	3205	-124.24	-1.80	0.00	3857.5	3861.5	3853.5	1091.9	559.6	15.10	-19.43	26	174.33	0.00	0.51	3.60	0.000	0.233	0.077	3857.41	3860.81	3854.00	1165.19	2033.69	0	0	0	30.00	15.66	15.70
357.62	644	-124.24	-1.73	-80.00	3859.1	3864.3	3853.9	1164.6	2033.2	48.70	-16.24	63	366.51	0.00	0.00	3.96	0.000	0.000	0.164	3858.66	3863.69	3853.62	1165.00	560.00	0	0	0	30.00	30.00	15.80
529.63	3205	-124.24	-1.59	0.00	3858.7	3864.0	3853.4	1165.0	560.2	84.67	-21.69	97	539.40	0.00	0.34	3.58	0.000	0.209	0.079	3859.12	3864.50	3853.75	1215.81	2036.75	0	0	0	30.00	15.85	15.88
723.02	260	-124.24	-1.59	80.00	3859.5	3865.7	3853.2	1215.5	2036.8	116.06	-15.94	117	732.02	0.00	0.00	3.70	0.000	0.000	0.144	3858.78	3864.94	3852.62	1215.62	3491.19	0	0	0	30.00	30.00	15.93
834.41	1156	-124.24	-1.52	0.00	3859.7	3865.9	3853.4	1215.5	3491.3	136.43	-19.03	138	843.05	0.00	0.00	3.60	0.000	0.000	0.080	3783.72	3713.44	3854.00	1215.00	2011.25	0	0	0	30.00	30.00	15.95
919	end dive: TARGET_DEPTH_EXCEEDED
state	919	begin apogee
921.00	10243	0.00	-0.36	0.00	3860.5	3867.2	3853.9	1216.2	2041.3	150.71	-16.44	147	1034.88	99.12	2.03	0.07	1.338	0.165	0.291	3348.19	3385.81	3310.56	1516.19	2010.94	0	0	0	12.20	15.93	15.59
1036	end apogee: CONTROL_FINISHED_OK
state	1036	begin climb
1036.42	10759	124.24	2.10	-80.00	3348.0	3384.9	3311.1	1515.5	2011.9	157.44	0.00	157	1168.35	104.14	3.87	4.12	1.300	0.106	0.182	2842.69	2887.56	2797.81	2110.94	562.88	0	0	0	11.88	15.63	15.40
1231.32	1028	124.24	2.10	0.00	2837.4	2878.1	2796.6	2110.8	562.3	140.02	14.47	192	1239.97	0.00	0.00	3.62	0.000	0.000	0.077	2836.88	2877.12	2796.62	2111.81	2039.50	0	0	0	30.00	30.00	15.63
1427.29	16774	124.24	2.18	80.00	2834.4	2876.2	2792.6	2111.5	2039.3	115.61	12.05	212	1436.29	0.00	0.00	3.67	0.000	0.000	0.143	2832.28	2873.50	2791.06	2111.50	3490.62	0	0	0	30.00	30.00	15.78
1485.20	17542	124.24	2.21	0.00	2833.0	2874.2	2791.8	2111.6	3489.6	108.11	12.85	223	1494.20	0.00	0.00	3.57	0.000	0.000	0.080	2821.12	2850.88	2791.38	2109.25	2009.00	0	0	0	30.00	30.00	15.83
1680.23	18823	124.24	2.29	80.00	2832.6	2873.8	2791.4	2111.5	2009.2	85.16	11.39	243	1689.71	0.00	0.26	3.74	0.000	0.076	0.138	2829.91	2871.12	2788.69	2171.31	3490.19	0	0	0	30.00	15.91	15.89
1762.20	17414	124.24	2.29	0.00	2831.8	2872.8	2790.8	2171.2	3489.9	74.27	13.29	258	1771.29	0.00	0.00	3.52	0.000	0.000	0.080	2830.38	2871.25	2789.50	2171.38	2008.88	0	0	0	30.00	30.00	15.92
1957.42	16774	124.24	2.34	80.00	2831.8	2872.5	2791.1	2171.6	2009.1	51.63	11.04	278	1966.50	0.00	0.00	3.71	0.000	0.000	0.138	2811.72	2833.31	2790.12	2168.56	3490.62	0	0	0	30.00	30.00	15.94
2122.22	17414	124.24	2.34	0.00	2830.9	2870.6	2791.1	2171.8	3491.9	32.09	11.27	310	2130.97	0.00	0.00	3.50	0.000	0.000	0.079	2829.59	2870.31	2788.88	2171.81	2008.19	0	0	0	30.00	30.00	16.01
2314.92	8870	150.52	2.42	-80.00	2830.7	2870.9	2790.4	2171.2	2007.2	15.12	7.22	348	2350.20	23.05	0.00	3.88	1.185	0.000	0.176	2735.06	2775.31	2694.81	2171.50	561.12	0	0	0	12.10	30.00	15.92
2354.33	11431	184.25	2.51	0.00	2734.9	2775.2	2694.6	2171.5	561.2	12.68	6.44	355	2400.41	31.74	0.23	3.52	1.179	0.074	0.073	2597.47	2641.19	2553.75	2220.75	2042.94	0	0	0	12.07	15.98	15.98
2584.34	10663	279.55	2.70	80.00	2593.2	2638.4	2548.0	2220.7	2043.1	7.24	-0.07	400	2631.06	41.01	0.19	0.00	1.190	0.080	0.000	2411.22	2466.44	2356.00	2273.25	2042.75	0	0	0	12.08	15.97	30.00
2631	end climb: NO_VERTICAL_VELOCITY
state	2632	begin surface