Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 3 * 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 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 3 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 0.85649717 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 8.061039 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 3 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 0.85649717 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 8.061039 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 3 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 250623,191501,4735.996,-12256.644,1,0.7,27,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,191818,4735.992,-12256.629,2,0.6,3,15.4 MHEAD_RNG_PITCHd_Wd 350.4,1016,-17.6,-10.000,-21.21,2209,0.137

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.028359,-0.130968,-0.036957,1.052244,-0.113160,-0.066910,-0.004227,1.105952,-127.888931,-1140.028320,-763.835999

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230625195240.509356,18,32767,45,0112,0113,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,21.2,5.01,-100,-2.01,-01,0.06,63,10000,5000,0,-1,00,00*75 FG_AHR_24Vo 8.310

NAV 1687723451,42.4,0,stop FG_AHR_10Vo 0.875

FREEZE 4.31,13.919,-1.517,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3644.07,309.39,1.162,0,500.8,526.0,475.7,698.90 MEM2 945264,36,101104,74

SM_GC 1.37,0.00,12.44,0.05,0.000,0.063,0.218,499.0,522.8,475.2,190.4,2038.1,0,0,0,30.00,15.63,15.62 DATA_FILE_SIZE 12918,503

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 192187,0

IRIDIUM_FIX 4735.53,-12254.47,250623,180620 SDSIZE 3887104,3872064

TCM_TEMP -86.18 SDFILEDIR 60,4

SC_FREEKB 3877824 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 4952.779785,-12300.000000,250623,181800,2,510,368.13 CURRENT 0.037, 82.1,1

HUMID 53.60 MAGCAL 1.000000,0.026899,0.005489,-0.027954,1.048011,-0.107016,-0.094248,-0.067370,1.001332,-216.0,-1156.9,-723.0,33,0.0455,0

TEMP 11.31 IMPLIED_C_PITCH 1754,13.09,236,0.0,0.00

INTERNAL_PRESSURE 8.01113 IMPLIED_C_VBD 3317,19.486620,236,0

_24V_AH 15.00,8.605 GPS 250623,202154,4736.402,-12256.430,1,0.7,3,15.4

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 808 1349 16356.68 nil 0 0 0.00

Pitch_motor 25 262 101.89 nil 0 0 0.00

Roll_motor 72 301 325.53 nil 0 0 0.00

Iridium 131 145 287.29 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 2185 5 167.82 SciCon 3308 6 319.85

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1407 0 6.76

Compass 1057 5 79.32

RAFOS 310 40 186.26

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

6.73 16386 -146.63 -1.44 0.00 495.8 515.6 476.0 189.9 2037.1 0.00 0.00 0 88.75 74.78 0.00 0.00 0.005 0.000 0.000 2529.41 2549.44 2509.38 190.25 2037.50 0 0 0 16.02 30.00 30.00

89.27 18983 -146.63 -1.44 -80.00 2527.3 2547.4 2507.3 190.2 2037.2 3.06 -2.35 15 155.62 40.51 7.84 3.79 0.005 0.262 0.162 3948.81 3953.81 3943.81 1252.06 559.69 0 0 0 16.05 15.88 15.95

214.36 3205 -146.63 -1.22 0.00 3950.2 3956.8 3943.6 1252.2 559.5 19.49 -19.27 38 222.80 0.00 0.35 3.48 0.000 0.203 0.076 3950.12 3956.44 3943.81 1306.25 2035.12 0 0 0 30.00 15.94 15.98

405.05 388 -146.63 -1.12 80.00 3951.2 3958.4 3943.9 1306.8 2035.5 44.54 -12.65 75 413.53 0.00 0.00 3.59 0.000 0.000 0.142 3951.41 3958.56 3944.25 1306.00 3490.44 0 0 0 30.00 30.00 16.02

546.62 3205 -146.63 -0.99 0.00 3951.2 3958.4 3944.0 1306.1 3489.9 65.64 -15.34 103 555.17 0.00 0.35 3.45 0.000 0.171 0.075 3951.75 3958.75 3944.75 1360.88 2009.69 0 0 0 30.00 16.04 16.07

742.48 388 -146.63 -0.95 80.00 3952.0 3960.1 3943.9 1361.6 2010.1 87.45 -10.62 123 751.27 0.00 0.00 3.63 0.000 0.000 0.136 3950.94 3959.19 3942.69 1361.88 3491.94 0 0 0 30.00 30.00 16.09

834.37 3205 -146.63 -0.88 0.00 3951.6 3959.8 3943.4 1361.4 3491.1 98.62 -12.14 141 842.74 0.00 0.17 3.44 0.000 0.182 0.077 3901.59 3858.94 3944.25 1389.88 2006.81 0 0 0 30.00 16.07 16.12

1030.10 292 -146.63 -0.88 80.00 3952.5 3961.4 3943.6 1390.2 2006.8 117.98 -9.39 161 1038.97 0.00 0.00 3.63 0.000 0.000 0.136 3952.12 3961.12 3943.12 1390.31 3492.31 0 0 0 30.00 30.00 16.12

1107.82 1156 -146.63 -0.84 0.00 3952.5 3961.4 3943.7 1390.4 3492.8 126.44 -10.98 176 1116.44 0.00 0.00 3.47 0.000 0.000 0.077 3952.53 3961.75 3943.31 1390.31 2005.56 0 0 0 30.00 30.00 16.15

1300.76 292 -146.63 -0.84 80.00 3952.7 3962.0 3943.4 1390.1 2005.7 145.32 -9.26 196 1309.65 0.00 0.00 3.63 0.000 0.000 0.138 3952.19 3961.25 3943.12 1390.25 3491.44 0 0 0 30.00 30.00 16.14

1348 end dive: TARGET_DEPTH_EXCEEDED

state 1348 begin apogee

1356.65 10243 0.00 -0.36 0.00 3952.6 3961.9 3943.4 1389.9 2009.2 150.33 -10.85 205 1483.71 113.71 0.81 0.06 1.349 0.139 0.301 3351.22 3392.62 3309.81 1516.44 2040.69 0 0 0 11.84 16.14 15.72

1485 end apogee: CONTROL_FINISHED_OK

state 1485 begin climb

1485.20 10759 146.63 1.44 -80.00 3348.8 3390.6 3306.9 1515.9 2040.9 157.31 0.00 217 1632.89 121.48 2.78 4.00 1.305 0.110 0.181 2752.19 2806.06 2698.31 1951.62 561.00 0 0 0 11.79 15.74 15.49

1701.89 9382 169.84 1.51 0.00 2746.6 2795.4 2697.7 1951.8 560.8 144.49 8.92 256 1736.21 21.00 0.00 3.55 1.217 0.000 0.076 2655.78 2706.44 2605.12 1951.81 2042.69 0 0 0 11.72 30.00 15.73

1921.90 10663 211.57 1.65 80.00 2652.5 2703.1 2601.9 1951.6 2043.1 126.78 8.07 281 1972.92 36.62 0.28 3.66 1.260 0.071 0.145 2487.72 2543.06 2432.38 2013.88 3489.12 0 0 0 11.94 15.89 15.72

2054.37 1156 211.57 1.68 0.00 2482.7 2538.1 2427.3 2014.8 3489.4 112.41 11.90 306 2062.69 0.00 0.00 3.55 0.000 0.000 0.079 2483.69 2539.19 2428.19 2014.94 2009.06 0 0 0 30.00 30.00 15.83

2250.16 388 211.57 1.74 80.00 2480.9 2537.9 2423.9 2014.8 2007.9 91.98 10.27 326 2259.27 0.00 0.00 3.70 0.000 0.000 0.142 2484.16 2541.88 2426.44 2014.56 3490.19 0 0 0 30.00 30.00 15.93

2298.17 1156 211.57 1.78 0.00 2480.6 2537.3 2423.8 2014.6 3490.4 86.84 10.84 335 2307.09 0.00 0.00 3.51 0.000 0.000 0.079 2476.75 2532.50 2421.00 2014.62 2008.62 0 0 0 30.00 30.00 15.96

2497.53 10663 228.73 1.86 80.00 2479.5 2536.2 2422.8 2014.7 2008.3 67.50 9.20 354 2526.65 16.89 0.22 3.70 1.182 0.075 0.144 2417.78 2475.06 2360.50 2064.94 3488.88 0 0 0 11.83 16.04 15.92

2570.38 1028 228.73 1.86 0.00 2415.4 2473.0 2357.8 2066.1 3489.4 59.09 12.39 368 2579.38 0.00 0.00 3.49 0.000 0.000 0.079 2411.97 2469.56 2354.38 2066.12 2008.81 0 0 0 30.00 30.00 15.96

2761.72 388 228.73 1.90 80.00 2414.1 2472.3 2355.8 2065.8 2009.1 37.88 11.07 398 2770.48 0.00 0.00 3.69 0.000 0.000 0.143 2411.78 2469.44 2354.12 2065.81 3489.31 0 0 0 30.00 30.00 16.00

2839.21 1028 228.73 1.90 0.00 2413.6 2472.1 2355.1 2065.5 3489.1 28.80 11.72 413 2847.96 0.00 0.00 3.48 0.000 0.000 0.079 2411.19 2470.44 2351.94 2066.38 2009.00 0 0 0 30.00 30.00 16.03

3031.24 8354 256.33 1.99 0.00 2413.0 2471.7 2354.2 2066.2 2009.9 9.96 8.72 450 3062.86 26.01 0.00 0.00 1.188 0.000 0.000 2303.22 2364.81 2241.62 2066.19 2009.62 0 0 0 11.85 30.00 30.00

3246.81 10663 467.22 2.37 80.00 2299.1 2361.1 2237.0 2066.0 2009.4 4.49 0.23 493 3301.38 47.86 0.67 0.00 1.199 0.058 0.000 2080.28 2146.12 2014.44 2188.00 2009.75 0 0 0 11.82 16.04 30.00

3302 end climb: NO_VERTICAL_VELOCITY

state 3302 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	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	3	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	0.85649717	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	8.061039	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	250623,191501,4735.996,-12256.644,1,0.7,27,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,191818,4735.992,-12256.629,2,0.6,3,15.4	MHEAD_RNG_PITCHd_Wd	350.4,1016,-17.6,-10.000,-21.21,2209,0.137
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.028359,-0.130968,-0.036957,1.052244,-0.113160,-0.066910,-0.004227,1.105952,-127.888931,-1140.028320,-763.835999
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,1,20230625195240.509356,18,32767,45,0112,0113,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,21.2,5.01,-100,-2.01,-01,0.06,63,10000,5000,0,-1,00,00*75	FG_AHR_24Vo	8.310
NAV	1687723451,42.4,0,stop	FG_AHR_10Vo	0.875
FREEZE	4.31,13.919,-1.517,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3644.07,309.39,1.162,0,500.8,526.0,475.7,698.90	MEM2	945264,36,101104,74
SM_GC	1.37,0.00,12.44,0.05,0.000,0.063,0.218,499.0,522.8,475.2,190.4,2038.1,0,0,0,30.00,15.63,15.62	DATA_FILE_SIZE	12918,503
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	192187,0
IRIDIUM_FIX	4735.53,-12254.47,250623,180620	SDSIZE	3887104,3872064
TCM_TEMP	-86.18	SDFILEDIR	60,4
SC_FREEKB	3877824	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	4952.779785,-12300.000000,250623,181800,2,510,368.13	CURRENT	0.037, 82.1,1
HUMID	53.60	MAGCAL	1.000000,0.026899,0.005489,-0.027954,1.048011,-0.107016,-0.094248,-0.067370,1.001332,-216.0,-1156.9,-723.0,33,0.0455,0
TEMP	11.31	IMPLIED_C_PITCH	1754,13.09,236,0.0,0.00
INTERNAL_PRESSURE	8.01113	IMPLIED_C_VBD	3317,19.486620,236,0
_24V_AH	15.00,8.605	GPS	250623,202154,4736.402,-12256.430,1,0.7,3,15.4
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	808	1349	16356.68	nil	0	0	0.00
Pitch_motor	25	262	101.89	nil	0	0	0.00
Roll_motor	72	301	325.53	nil	0	0	0.00
Iridium	131	145	287.29	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	2185	5	167.82	SciCon	3308	6	319.85
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1407	0	6.76
Compass	1057	5	79.32
RAFOS	310	40	186.26
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
6.73	16386	-146.63	-1.44	0.00	495.8	515.6	476.0	189.9	2037.1	0.00	0.00	0	88.75	74.78	0.00	0.00	0.005	0.000	0.000	2529.41	2549.44	2509.38	190.25	2037.50	0	0	0	16.02	30.00	30.00
89.27	18983	-146.63	-1.44	-80.00	2527.3	2547.4	2507.3	190.2	2037.2	3.06	-2.35	15	155.62	40.51	7.84	3.79	0.005	0.262	0.162	3948.81	3953.81	3943.81	1252.06	559.69	0	0	0	16.05	15.88	15.95
214.36	3205	-146.63	-1.22	0.00	3950.2	3956.8	3943.6	1252.2	559.5	19.49	-19.27	38	222.80	0.00	0.35	3.48	0.000	0.203	0.076	3950.12	3956.44	3943.81	1306.25	2035.12	0	0	0	30.00	15.94	15.98
405.05	388	-146.63	-1.12	80.00	3951.2	3958.4	3943.9	1306.8	2035.5	44.54	-12.65	75	413.53	0.00	0.00	3.59	0.000	0.000	0.142	3951.41	3958.56	3944.25	1306.00	3490.44	0	0	0	30.00	30.00	16.02
546.62	3205	-146.63	-0.99	0.00	3951.2	3958.4	3944.0	1306.1	3489.9	65.64	-15.34	103	555.17	0.00	0.35	3.45	0.000	0.171	0.075	3951.75	3958.75	3944.75	1360.88	2009.69	0	0	0	30.00	16.04	16.07
742.48	388	-146.63	-0.95	80.00	3952.0	3960.1	3943.9	1361.6	2010.1	87.45	-10.62	123	751.27	0.00	0.00	3.63	0.000	0.000	0.136	3950.94	3959.19	3942.69	1361.88	3491.94	0	0	0	30.00	30.00	16.09
834.37	3205	-146.63	-0.88	0.00	3951.6	3959.8	3943.4	1361.4	3491.1	98.62	-12.14	141	842.74	0.00	0.17	3.44	0.000	0.182	0.077	3901.59	3858.94	3944.25	1389.88	2006.81	0	0	0	30.00	16.07	16.12
1030.10	292	-146.63	-0.88	80.00	3952.5	3961.4	3943.6	1390.2	2006.8	117.98	-9.39	161	1038.97	0.00	0.00	3.63	0.000	0.000	0.136	3952.12	3961.12	3943.12	1390.31	3492.31	0	0	0	30.00	30.00	16.12
1107.82	1156	-146.63	-0.84	0.00	3952.5	3961.4	3943.7	1390.4	3492.8	126.44	-10.98	176	1116.44	0.00	0.00	3.47	0.000	0.000	0.077	3952.53	3961.75	3943.31	1390.31	2005.56	0	0	0	30.00	30.00	16.15
1300.76	292	-146.63	-0.84	80.00	3952.7	3962.0	3943.4	1390.1	2005.7	145.32	-9.26	196	1309.65	0.00	0.00	3.63	0.000	0.000	0.138	3952.19	3961.25	3943.12	1390.25	3491.44	0	0	0	30.00	30.00	16.14
1348	end dive: TARGET_DEPTH_EXCEEDED
state	1348	begin apogee
1356.65	10243	0.00	-0.36	0.00	3952.6	3961.9	3943.4	1389.9	2009.2	150.33	-10.85	205	1483.71	113.71	0.81	0.06	1.349	0.139	0.301	3351.22	3392.62	3309.81	1516.44	2040.69	0	0	0	11.84	16.14	15.72
1485	end apogee: CONTROL_FINISHED_OK
state	1485	begin climb
1485.20	10759	146.63	1.44	-80.00	3348.8	3390.6	3306.9	1515.9	2040.9	157.31	0.00	217	1632.89	121.48	2.78	4.00	1.305	0.110	0.181	2752.19	2806.06	2698.31	1951.62	561.00	0	0	0	11.79	15.74	15.49
1701.89	9382	169.84	1.51	0.00	2746.6	2795.4	2697.7	1951.8	560.8	144.49	8.92	256	1736.21	21.00	0.00	3.55	1.217	0.000	0.076	2655.78	2706.44	2605.12	1951.81	2042.69	0	0	0	11.72	30.00	15.73
1921.90	10663	211.57	1.65	80.00	2652.5	2703.1	2601.9	1951.6	2043.1	126.78	8.07	281	1972.92	36.62	0.28	3.66	1.260	0.071	0.145	2487.72	2543.06	2432.38	2013.88	3489.12	0	0	0	11.94	15.89	15.72
2054.37	1156	211.57	1.68	0.00	2482.7	2538.1	2427.3	2014.8	3489.4	112.41	11.90	306	2062.69	0.00	0.00	3.55	0.000	0.000	0.079	2483.69	2539.19	2428.19	2014.94	2009.06	0	0	0	30.00	30.00	15.83
2250.16	388	211.57	1.74	80.00	2480.9	2537.9	2423.9	2014.8	2007.9	91.98	10.27	326	2259.27	0.00	0.00	3.70	0.000	0.000	0.142	2484.16	2541.88	2426.44	2014.56	3490.19	0	0	0	30.00	30.00	15.93
2298.17	1156	211.57	1.78	0.00	2480.6	2537.3	2423.8	2014.6	3490.4	86.84	10.84	335	2307.09	0.00	0.00	3.51	0.000	0.000	0.079	2476.75	2532.50	2421.00	2014.62	2008.62	0	0	0	30.00	30.00	15.96
2497.53	10663	228.73	1.86	80.00	2479.5	2536.2	2422.8	2014.7	2008.3	67.50	9.20	354	2526.65	16.89	0.22	3.70	1.182	0.075	0.144	2417.78	2475.06	2360.50	2064.94	3488.88	0	0	0	11.83	16.04	15.92
2570.38	1028	228.73	1.86	0.00	2415.4	2473.0	2357.8	2066.1	3489.4	59.09	12.39	368	2579.38	0.00	0.00	3.49	0.000	0.000	0.079	2411.97	2469.56	2354.38	2066.12	2008.81	0	0	0	30.00	30.00	15.96
2761.72	388	228.73	1.90	80.00	2414.1	2472.3	2355.8	2065.8	2009.1	37.88	11.07	398	2770.48	0.00	0.00	3.69	0.000	0.000	0.143	2411.78	2469.44	2354.12	2065.81	3489.31	0	0	0	30.00	30.00	16.00
2839.21	1028	228.73	1.90	0.00	2413.6	2472.1	2355.1	2065.5	3489.1	28.80	11.72	413	2847.96	0.00	0.00	3.48	0.000	0.000	0.079	2411.19	2470.44	2351.94	2066.38	2009.00	0	0	0	30.00	30.00	16.03
3031.24	8354	256.33	1.99	0.00	2413.0	2471.7	2354.2	2066.2	2009.9	9.96	8.72	450	3062.86	26.01	0.00	0.00	1.188	0.000	0.000	2303.22	2364.81	2241.62	2066.19	2009.62	0	0	0	11.85	30.00	30.00
3246.81	10663	467.22	2.37	80.00	2299.1	2361.1	2237.0	2066.0	2009.4	4.49	0.23	493	3301.38	47.86	0.67	0.00	1.199	0.058	0.000	2080.28	2146.12	2014.44	2188.00	2009.75	0	0	0	11.82	16.04	30.00
3302	end climb: NO_VERTICAL_VELOCITY
state	3302	begin surface