Glider dive log

HoodCanal 15Jun23 * SG252 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 3 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 699.10498 ROLL_MAXERRORS 1 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3350 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3615 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.20603542 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 1.513441 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -179.68619 SEABIRD_T_J 4.3e-06

MASS 72278 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022626969 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 275 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3885 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 3 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.20603542 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 1.513441 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 14 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3615 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 210 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 252 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT 2 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022626969 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -179.68619 T_NO_W 60

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3350 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72278 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 3885 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 3 MISSION 2 ROLL_MIN 275 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 150623,203337,4736.635,-12256.044,1,0.7,3,15.4 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150623,203834,4736.650,-12256.004,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 47.5,40655,-17.6,-10.000,-21.21,2209,0.153

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME NW IRON 1.000000,-0.044840,-0.084959,0.034527,1.118395,-0.071872,0.014969,-0.090913,1.060070,-208.157089,-1168.389771,-756.833740

TGT_LATLONG 4743.500,-12225.000 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0001.n 797 0 _24V_AH 14.99,1.858

NET_PING 1686864310,50,557.851501,5.800000,-74.363510 _10V_AH 15.00,0.000

NAV 1686864611,11.0,0,stop FG_AHR_24Vo 1.756

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 0.229

MODEM_MSG CACST,8,1,20230615210021.853460,18,32767,45,0101,0000,246,03,03,00,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*11 MEM0 60020,1,0,0

FREEZE 5.15,14.044,-1.520,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 945208,37,101160,73

SM_CCo 3689.88,303.67,1.153,0,500.8,528.9,472.6,698.92 DATA_FILE_SIZE 12943,506

SM_GC 2.22,0.00,12.50,0.06,0.000,0.061,0.209,498.1,525.6,470.6,201.5,2040.8,0,0,0,30.00,15.64,15.64 CAP_FILE_SIZE 194014,0

SUPER 27,71,254,1,0,0 SDSIZE 3887104,3873536

IRIDIUM_FIX 4736.87,-12256.21,150623,203409 SDFILEDIR 54,4

TCM_TEMP -86.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3877824 SOUNDSPEED 1465.0

RAFOS_CLK 0 CURRENT 0.073,159.2,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,-0.005273,0.006061,-0.003923,1.086693,-0.034751,0.029156,-0.072983,0.891981,-254.3,-1237.4,-536.9,28,0.0395,0

HUMID 53.06 IMPLIED_C_PITCH 1764,13.38,236,0.0,0.00

TEMP 11.50 IMPLIED_C_VBD 3301,43.654694,236,0

INTERNAL_PRESSURE 8.01709 GPS 150623,214258,4736.706,-12255.556,1,1.0,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 787 1314 15511.58 nil 0 0 0.00

Pitch_motor 25 278 108.21 nil 0 0 0.00

Roll_motor 64 318 308.31 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.98 nil 0 0 0.00

Core 2069 5 158.90 SciCon 3355 8 403.10

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1437 0 6.90

Compass 1061 5 79.65

RAFOS 313 40 188.31

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

6.94 16386 -146.63 -1.44 0.00 497.9 523.6 472.1 212.2 2038.3 0.00 0.00 0 72.75 59.80 0.00 0.00 0.005 0.000 0.000 2248.00 2269.69 2226.31 212.31 2038.88 0 0 0 16.16 30.00 30.00

73.28 18983 -146.63 -1.44 -80.00 2248.4 2269.5 2227.2 212.6 2038.3 3.17 -2.94 12 144.78 43.02 7.80 3.69 0.005 0.278 0.174 3948.72 3953.94 3943.50 1253.06 560.06 0 0 0 16.16 15.97 16.04

372.08 3205 -146.63 -1.24 0.00 3951.6 3958.8 3944.5 1253.1 558.8 42.30 -14.94 68 384.12 0.00 0.31 3.42 0.000 0.200 0.081 3952.16 3959.06 3945.25 1300.19 2039.69 0 0 0 30.00 16.01 16.08

572.92 644 -146.63 -1.14 -80.00 3952.7 3960.9 3944.4 1300.3 2040.2 65.40 -11.87 94 581.81 0.00 0.00 3.75 0.000 0.000 0.178 3952.88 3960.69 3945.06 1300.31 558.50 0 0 0 30.00 30.00 16.07

690.68 3205 -146.63 -0.98 0.00 3952.5 3960.6 3944.3 1300.2 558.6 82.33 -14.39 117 699.77 0.00 0.41 3.38 0.000 0.175 0.081 3952.44 3960.38 3944.50 1363.06 2039.25 0 0 0 30.00 16.06 16.13

885.70 388 -146.63 -0.94 80.00 3953.4 3962.4 3944.3 1362.8 2039.0 104.20 -10.85 137 894.39 0.00 0.00 3.53 0.000 0.000 0.151 3954.19 3961.19 3947.19 1363.94 3489.44 0 0 0 30.00 30.00 16.11

923.24 3205 -146.63 -0.86 0.00 3953.4 3962.6 3944.1 1363.8 3489.7 108.83 -12.33 144 932.15 0.00 0.19 3.42 0.000 0.180 0.084 3953.50 3962.38 3944.62 1392.50 2007.88 0 0 0 30.00 16.10 16.13

1115.21 292 -146.63 -0.86 80.00 3953.7 3962.7 3944.6 1392.5 2008.1 127.26 -9.15 164 1124.08 0.00 0.00 3.62 0.000 0.000 0.150 3953.19 3962.38 3944.00 1393.56 3490.81 0 0 0 30.00 30.00 16.12

1261.67 1156 -146.63 -0.82 0.00 3953.6 3962.8 3944.4 1393.7 3490.9 143.27 -11.71 189 1270.46 0.00 0.00 3.43 0.000 0.000 0.087 3954.28 3963.75 3944.81 1392.38 2009.31 0 0 0 30.00 30.00 16.13

1336 end dive: TARGET_DEPTH_EXCEEDED

state 1336 begin apogee

1338.29 10243 0.00 -0.36 0.00 3953.5 3963.2 3943.8 1393.3 2039.6 150.97 -9.94 197 1464.21 112.03 0.79 0.06 1.314 0.137 0.318 3350.94 3392.81 3309.06 1516.75 2012.06 0 0 0 11.34 16.11 15.69

1473 end apogee: CONTROL_FINISHED_OK

state 1473 begin climb

1473.67 10759 146.63 1.44 -80.00 3348.2 3389.9 3306.6 1516.1 2011.6 157.03 0.00 208 1620.00 118.17 2.81 3.90 1.276 0.113 0.196 2751.03 2803.12 2698.94 1950.81 561.06 0 0 0 11.53 15.73 15.48

1703.06 9254 168.39 1.46 0.00 2746.9 2793.6 2700.1 1950.7 561.0 141.72 8.99 249 1733.60 19.20 0.00 3.54 1.183 0.000 0.085 2661.84 2711.00 2612.69 1951.44 2037.88 0 0 0 11.46 30.00 15.75

1919.03 10663 236.24 1.63 80.00 2658.4 2707.7 2609.1 1951.3 2038.1 129.64 6.86 273 1988.79 55.09 0.25 3.68 1.258 0.077 0.160 2382.03 2443.31 2320.75 2007.38 3488.44 0 0 0 11.48 15.91 15.67

2132.70 1156 236.24 1.67 0.00 2380.6 2440.7 2320.5 2007.4 3487.8 107.37 11.87 314 2141.63 0.00 0.00 3.50 0.000 0.000 0.088 2377.47 2437.44 2317.50 2006.88 2009.75 0 0 0 30.00 30.00 15.86

2327.82 8614 248.45 1.76 80.00 2378.5 2439.8 2317.1 2007.3 2009.2 88.12 9.43 334 2351.31 11.51 0.00 3.71 1.105 0.000 0.155 2333.69 2394.44 2272.94 2007.56 3489.00 0 0 0 11.58 30.00 15.90

2400.21 3205 248.45 1.82 0.00 2334.2 2394.9 2273.6 2007.1 3488.6 80.58 11.18 348 2409.40 0.00 0.21 3.48 0.000 0.084 0.087 2331.09 2391.94 2270.25 2054.38 2009.56 0 0 0 30.00 15.96 15.94

2595.23 128 248.45 1.87 0.00 2333.0 2393.5 2272.4 2054.6 2009.7 58.88 10.84 368 2597.16 0.00 0.00 0.00 0.000 0.000 0.000 2330.94 2391.12 2270.75 2054.50 2009.69 0 0 0 30.00 30.00 30.00

2782.28 388 248.45 1.92 80.00 2332.5 2393.1 2271.9 2055.1 2009.8 38.00 10.69 396 2794.95 0.00 0.00 3.69 0.000 0.000 0.154 2331.50 2391.25 2271.75 2055.69 3488.88 0 0 0 30.00 30.00 15.99

2883.67 1028 248.45 1.92 0.00 2331.8 2392.5 2271.2 2055.1 3487.9 26.77 10.55 416 2892.42 0.00 0.00 3.45 0.000 0.000 0.086 2329.75 2389.44 2270.06 2055.00 2010.81 0 0 0 30.00 30.00 16.04

3073.45 10663 300.27 2.05 80.00 2331.4 2392.8 2270.1 2055.1 2010.7 10.95 7.60 452 3134.96 45.42 0.26 3.71 1.195 0.083 0.155 2124.72 2190.56 2058.88 2109.94 3489.00 0 0 0 11.50 16.08 15.89

3323.98 11431 518.17 2.39 0.00 2119.8 2186.1 2053.4 2110.6 3489.3 5.18 -0.09 501 3354.16 19.39 0.41 3.46 1.147 0.069 0.082 2039.94 2107.19 1972.69 2190.06 2008.69 0 0 0 11.59 16.02 16.00

3355 end climb: NO_VERTICAL_VELOCITY

state 3355 begin surface

ID	252	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	3	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	699.10498	ROLL_MAXERRORS	1	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3350	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3615	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.20603542	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	1.513441	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-179.68619	SEABIRD_T_J	4.3e-06
MASS	72278	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022626969	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	275	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3885	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_FREQUENCY	13

GPS1	150623,203337,4736.635,-12256.044,1,0.7,3,15.4	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150623,203834,4736.650,-12256.004,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	47.5,40655,-17.6,-10.000,-21.21,2209,0.153
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	NW	IRON	1.000000,-0.044840,-0.084959,0.034527,1.118395,-0.071872,0.014969,-0.090913,1.060070,-208.157089,-1168.389771,-756.833740
TGT_LATLONG	4743.500,-12225.000	OSC	8000266

NET	xmit part outbox0001.n 797 0	_24V_AH	14.99,1.858
NET_PING	1686864310,50,557.851501,5.800000,-74.363510	_10V_AH	15.00,0.000
NAV	1686864611,11.0,0,stop	FG_AHR_24Vo	1.756
WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	0.229
MODEM_MSG	CACST,8,1,20230615210021.853460,18,32767,45,0101,0000,246,03,03,00,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*11	MEM0	60020,1,0,0
FREEZE	5.15,14.044,-1.520,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	945208,37,101160,73
SM_CCo	3689.88,303.67,1.153,0,500.8,528.9,472.6,698.92	DATA_FILE_SIZE	12943,506
SM_GC	2.22,0.00,12.50,0.06,0.000,0.061,0.209,498.1,525.6,470.6,201.5,2040.8,0,0,0,30.00,15.64,15.64	CAP_FILE_SIZE	194014,0
SUPER	27,71,254,1,0,0	SDSIZE	3887104,3873536
IRIDIUM_FIX	4736.87,-12256.21,150623,203409	SDFILEDIR	54,4
TCM_TEMP	-86.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3877824	SOUNDSPEED	1465.0
RAFOS_CLK	0	CURRENT	0.073,159.2,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,-0.005273,0.006061,-0.003923,1.086693,-0.034751,0.029156,-0.072983,0.891981,-254.3,-1237.4,-536.9,28,0.0395,0
HUMID	53.06	IMPLIED_C_PITCH	1764,13.38,236,0.0,0.00
TEMP	11.50	IMPLIED_C_VBD	3301,43.654694,236,0
INTERNAL_PRESSURE	8.01709	GPS	150623,214258,4736.706,-12255.556,1,1.0,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	787	1314	15511.58	nil	0	0	0.00
Pitch_motor	25	278	108.21	nil	0	0	0.00
Roll_motor	64	318	308.31	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.98	nil	0	0	0.00
Core	2069	5	158.90	SciCon	3355	8	403.10
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1437	0	6.90
Compass	1061	5	79.65
RAFOS	313	40	188.31
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
6.94	16386	-146.63	-1.44	0.00	497.9	523.6	472.1	212.2	2038.3	0.00	0.00	0	72.75	59.80	0.00	0.00	0.005	0.000	0.000	2248.00	2269.69	2226.31	212.31	2038.88	0	0	0	16.16	30.00	30.00
73.28	18983	-146.63	-1.44	-80.00	2248.4	2269.5	2227.2	212.6	2038.3	3.17	-2.94	12	144.78	43.02	7.80	3.69	0.005	0.278	0.174	3948.72	3953.94	3943.50	1253.06	560.06	0	0	0	16.16	15.97	16.04
372.08	3205	-146.63	-1.24	0.00	3951.6	3958.8	3944.5	1253.1	558.8	42.30	-14.94	68	384.12	0.00	0.31	3.42	0.000	0.200	0.081	3952.16	3959.06	3945.25	1300.19	2039.69	0	0	0	30.00	16.01	16.08
572.92	644	-146.63	-1.14	-80.00	3952.7	3960.9	3944.4	1300.3	2040.2	65.40	-11.87	94	581.81	0.00	0.00	3.75	0.000	0.000	0.178	3952.88	3960.69	3945.06	1300.31	558.50	0	0	0	30.00	30.00	16.07
690.68	3205	-146.63	-0.98	0.00	3952.5	3960.6	3944.3	1300.2	558.6	82.33	-14.39	117	699.77	0.00	0.41	3.38	0.000	0.175	0.081	3952.44	3960.38	3944.50	1363.06	2039.25	0	0	0	30.00	16.06	16.13
885.70	388	-146.63	-0.94	80.00	3953.4	3962.4	3944.3	1362.8	2039.0	104.20	-10.85	137	894.39	0.00	0.00	3.53	0.000	0.000	0.151	3954.19	3961.19	3947.19	1363.94	3489.44	0	0	0	30.00	30.00	16.11
923.24	3205	-146.63	-0.86	0.00	3953.4	3962.6	3944.1	1363.8	3489.7	108.83	-12.33	144	932.15	0.00	0.19	3.42	0.000	0.180	0.084	3953.50	3962.38	3944.62	1392.50	2007.88	0	0	0	30.00	16.10	16.13
1115.21	292	-146.63	-0.86	80.00	3953.7	3962.7	3944.6	1392.5	2008.1	127.26	-9.15	164	1124.08	0.00	0.00	3.62	0.000	0.000	0.150	3953.19	3962.38	3944.00	1393.56	3490.81	0	0	0	30.00	30.00	16.12
1261.67	1156	-146.63	-0.82	0.00	3953.6	3962.8	3944.4	1393.7	3490.9	143.27	-11.71	189	1270.46	0.00	0.00	3.43	0.000	0.000	0.087	3954.28	3963.75	3944.81	1392.38	2009.31	0	0	0	30.00	30.00	16.13
1336	end dive: TARGET_DEPTH_EXCEEDED
state	1336	begin apogee
1338.29	10243	0.00	-0.36	0.00	3953.5	3963.2	3943.8	1393.3	2039.6	150.97	-9.94	197	1464.21	112.03	0.79	0.06	1.314	0.137	0.318	3350.94	3392.81	3309.06	1516.75	2012.06	0	0	0	11.34	16.11	15.69
1473	end apogee: CONTROL_FINISHED_OK
state	1473	begin climb
1473.67	10759	146.63	1.44	-80.00	3348.2	3389.9	3306.6	1516.1	2011.6	157.03	0.00	208	1620.00	118.17	2.81	3.90	1.276	0.113	0.196	2751.03	2803.12	2698.94	1950.81	561.06	0	0	0	11.53	15.73	15.48
1703.06	9254	168.39	1.46	0.00	2746.9	2793.6	2700.1	1950.7	561.0	141.72	8.99	249	1733.60	19.20	0.00	3.54	1.183	0.000	0.085	2661.84	2711.00	2612.69	1951.44	2037.88	0	0	0	11.46	30.00	15.75
1919.03	10663	236.24	1.63	80.00	2658.4	2707.7	2609.1	1951.3	2038.1	129.64	6.86	273	1988.79	55.09	0.25	3.68	1.258	0.077	0.160	2382.03	2443.31	2320.75	2007.38	3488.44	0	0	0	11.48	15.91	15.67
2132.70	1156	236.24	1.67	0.00	2380.6	2440.7	2320.5	2007.4	3487.8	107.37	11.87	314	2141.63	0.00	0.00	3.50	0.000	0.000	0.088	2377.47	2437.44	2317.50	2006.88	2009.75	0	0	0	30.00	30.00	15.86
2327.82	8614	248.45	1.76	80.00	2378.5	2439.8	2317.1	2007.3	2009.2	88.12	9.43	334	2351.31	11.51	0.00	3.71	1.105	0.000	0.155	2333.69	2394.44	2272.94	2007.56	3489.00	0	0	0	11.58	30.00	15.90
2400.21	3205	248.45	1.82	0.00	2334.2	2394.9	2273.6	2007.1	3488.6	80.58	11.18	348	2409.40	0.00	0.21	3.48	0.000	0.084	0.087	2331.09	2391.94	2270.25	2054.38	2009.56	0	0	0	30.00	15.96	15.94
2595.23	128	248.45	1.87	0.00	2333.0	2393.5	2272.4	2054.6	2009.7	58.88	10.84	368	2597.16	0.00	0.00	0.00	0.000	0.000	0.000	2330.94	2391.12	2270.75	2054.50	2009.69	0	0	0	30.00	30.00	30.00
2782.28	388	248.45	1.92	80.00	2332.5	2393.1	2271.9	2055.1	2009.8	38.00	10.69	396	2794.95	0.00	0.00	3.69	0.000	0.000	0.154	2331.50	2391.25	2271.75	2055.69	3488.88	0	0	0	30.00	30.00	15.99
2883.67	1028	248.45	1.92	0.00	2331.8	2392.5	2271.2	2055.1	3487.9	26.77	10.55	416	2892.42	0.00	0.00	3.45	0.000	0.000	0.086	2329.75	2389.44	2270.06	2055.00	2010.81	0	0	0	30.00	30.00	16.04
3073.45	10663	300.27	2.05	80.00	2331.4	2392.8	2270.1	2055.1	2010.7	10.95	7.60	452	3134.96	45.42	0.26	3.71	1.195	0.083	0.155	2124.72	2190.56	2058.88	2109.94	3489.00	0	0	0	11.50	16.08	15.89
3323.98	11431	518.17	2.39	0.00	2119.8	2186.1	2053.4	2110.6	3489.3	5.18	-0.09	501	3354.16	19.39	0.41	3.46	1.147	0.069	0.082	2039.94	2107.19	1972.69	2190.06	2008.69	0	0	0	11.59	16.02	16.00
3355	end climb: NO_VERTICAL_VELOCITY
state	3355	begin surface