Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 35 * 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 35 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 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 2.2935925 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 16.164188 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 50 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 2.2935925 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.164188 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 35 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 270623,050602,4736.237,-12256.551,9,0.8,12,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,050926,4736.249,-12256.568,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 3.3,535,-21.1,-10.000,-24.37,1578,0.159

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME N IRON 1.000000,0.031484,-0.032928,-0.010108,1.045478,-0.062488,0.002039,-0.013247,0.921834,-196.850296,-1213.832397,-653.799561

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NET xmit part outbox0028.n 1634 20 _24V_AH 14.87,17.444

MODEM_MSG CACST,8,1,20230627052500.352982,18,32767,45,0143,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,7.0,2.32,-100,0.68,-01,0.12,69,925,0025,0,-1,00,00*33 _10V_AH 14.92,0.000

NAV 1687845925,0.1,start FG_AHR_24Vo 16.409

NET_PING 1687845161,29,425.966980,5.400000,-0.565940 FG_AHR_10Vo 2.341

FREEZE 4.52,14.307,-1.525,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3207.18,281.16,1.124,0,500.6,527.4,473.9,698.95 MEM2 945448,26,101120,74

SM_GC 1.95,0.00,12.83,0.06,0.000,0.060,0.202,497.2,523.9,470.4,189.0,2040.2,0,0,0,30.00,15.57,15.56 DATA_FILE_SIZE 12912,452

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 195656,0

IRIDIUM_FIX 4736.00,-12258.89,270623,040649 SDSIZE 3887104,3861472

TCM_TEMP -86.19 SDFILEDIR 327,36

SC_FREEKB 3867584 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

MODEM 1,1687842600,47.60500,-122.95000,0.496,727.0 CURRENT 0.022,212.1,1

RAFOS_FIX 4736.097168,-12257.027344,270623,050500,3,255,0.68 MAGCAL 1.000000,0.026489,-0.075958,-0.003639,1.097111,-0.109715,-0.061542,-0.004012,1.150219,-174.7,-1196.6,-838.0,36,0.0480,0

HUMID 52.21 IMPLIED_C_PITCH 1747,14.05,202,0.0,0.00

TEMP 11.19 IMPLIED_C_VBD 3257,20.117851,202,0

INTERNAL_PRESSURE 7.99383 GPS 270623,060632,4736.422,-12256.559,33,1.0,37,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 808 1315 15823.17 nil 0 0 0.00

Pitch_motor 26 263 104.24 nil 0 0 0.00

Roll_motor 66 307 302.53 nil 0 0 0.00

Iridium 135 164 331.14 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2177 5 166.33 SciCon 2903 6 283.01

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1014 0 4.84

Compass 951 5 70.96

RAFOS 1470 40 877.52

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

6.98 16386 -104.29 -1.64 0.00 494.9 518.6 471.1 190.2 2010.5 0.00 0.00 0 56.49 44.76 0.00 0.00 0.005 0.000 0.000 1842.16 1859.81 1824.50 190.31 2010.19 0 0 0 15.89 30.00 30.00

57.02 18727 -146.63 -1.69 80.00 1842.8 1861.9 1823.8 190.1 2010.1 3.22 -4.20 9 144.40 58.63 7.45 3.69 0.005 0.264 0.132 3948.56 3953.06 3944.06 1191.94 3488.88 0 0 0 15.91 15.77 15.84

288.13 3205 -146.63 -1.49 0.00 3949.9 3956.1 3943.8 1191.4 3487.8 39.28 -20.47 53 296.66 0.00 0.33 3.49 0.000 0.201 0.077 3950.31 3957.19 3943.44 1241.69 2008.50 0 0 0 30.00 15.88 15.90

485.35 644 -146.63 -1.39 -80.00 3951.6 3958.6 3944.6 1241.7 2008.2 71.48 -15.57 79 494.40 0.00 0.00 3.81 0.000 0.000 0.172 3950.25 3957.25 3943.25 1242.31 560.06 0 0 0 30.00 30.00 15.93

723.30 3205 -146.63 -1.26 0.00 3951.1 3958.4 3943.8 1241.9 560.0 117.00 -18.86 126 732.47 0.00 0.37 3.53 0.000 0.187 0.077 3950.66 3957.69 3943.62 1296.56 2035.06 0 0 0 30.00 15.97 15.99

918.30 388 -146.63 -1.22 80.00 3952.0 3959.7 3944.2 1297.5 2035.0 144.20 -13.29 146 927.09 0.00 0.00 3.64 0.000 0.000 0.144 3951.44 3958.56 3944.31 1297.00 3489.81 0 0 0 30.00 30.00 15.99

960 end dive: TARGET_DEPTH_EXCEEDED

state 960 begin apogee

968.04 10243 0.00 -0.36 0.00 3951.7 3959.2 3944.1 1297.2 2010.6 150.55 -15.40 154 1100.26 117.82 1.44 0.05 1.315 0.152 0.307 3348.84 3387.69 3310.00 1516.00 2039.88 0 0 0 12.00 15.97 15.60

1101 end apogee: CONTROL_FINISHED_OK

state 1101 begin climb

1101.80 10759 146.63 1.69 -80.00 3348.9 3387.1 3310.7 1515.9 2040.1 158.37 0.00 166 1254.94 124.34 3.20 4.19 1.280 0.105 0.179 2750.44 2797.44 2703.44 2012.88 559.94 0 0 0 11.83 15.62 15.40

1363.92 1156 146.63 1.72 0.00 2745.6 2788.3 2702.8 2013.0 559.8 137.79 11.85 214 1372.77 0.00 0.00 3.60 0.000 0.000 0.075 2744.00 2787.00 2701.00 2013.12 2040.19 0 0 0 30.00 30.00 15.70

1558.96 10663 162.58 1.82 80.00 2743.2 2788.6 2697.8 2013.2 2040.8 119.08 8.97 234 1583.43 13.93 0.17 3.69 1.154 0.083 0.144 2687.53 2732.25 2642.81 2059.56 3490.56 0 0 0 11.99 15.87 15.78

1676.25 1028 162.58 1.82 0.00 2685.0 2729.3 2640.6 2059.3 3489.8 105.24 12.15 256 1689.29 0.00 0.00 3.57 0.000 0.000 0.079 2684.34 2728.12 2640.56 2059.88 2010.44 0 0 0 30.00 30.00 15.82

1877.30 388 162.58 1.88 80.00 2683.7 2728.7 2638.7 2059.4 2010.4 84.09 10.41 277 1889.50 0.00 0.00 3.84 0.000 0.000 0.137 2683.72 2728.50 2638.94 2059.62 3490.50 0 0 0 30.00 30.00 15.26

1893.36 1028 162.58 1.88 0.00 2683.4 2728.1 2638.7 2058.9 3490.4 82.29 10.47 280 1902.10 0.00 0.00 3.57 0.000 0.000 0.077 2683.78 2727.25 2640.31 2059.06 2009.06 0 0 0 30.00 30.00 15.73

2090.75 8614 175.56 1.95 80.00 2683.1 2727.8 2638.4 2059.5 2009.2 63.35 9.16 300 2116.14 14.38 0.00 3.76 1.145 0.000 0.140 2631.62 2677.38 2585.88 2060.25 3488.75 0 0 0 11.97 30.00 15.79

2204.30 1156 175.56 1.98 0.00 2632.6 2677.6 2587.5 2060.3 3489.4 50.94 11.11 322 2212.67 0.00 0.00 3.54 0.000 0.000 0.079 2631.81 2676.12 2587.50 2060.38 2009.44 0 0 0 30.00 30.00 15.85

2396.21 10663 188.34 2.07 80.00 2631.3 2677.1 2585.6 2059.7 2009.9 32.77 9.17 359 2420.94 14.07 0.26 3.73 1.120 0.068 0.140 2579.94 2625.88 2534.00 2122.12 3493.31 0 0 0 11.82 15.97 15.88

2519.70 1028 188.34 2.07 0.00 2580.4 2626.1 2534.8 2121.7 3492.8 18.27 11.99 383 2528.57 0.00 0.00 3.52 0.000 0.000 0.077 2580.53 2625.38 2535.69 2121.38 2008.25 0 0 0 30.00 30.00 15.94

2710.03 8614 279.42 2.24 80.00 2579.3 2626.4 2532.2 2122.1 2008.1 5.38 4.10 419 2807.13 80.25 0.00 3.79 1.178 0.000 0.135 2207.84 2273.06 2142.62 2121.88 3489.00 0 0 0 12.00 30.00 15.66

2821.14 11431 417.86 2.50 0.00 2207.6 2272.9 2142.2 2122.1 3489.7 4.79 1.03 439 2895.59 59.63 0.52 3.56 1.143 0.054 0.073 1924.41 1999.50 1849.31 2222.38 2008.88 0 0 0 12.00 15.74 15.71

2896 end climb: NO_VERTICAL_VELOCITY

state 2896 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	35	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	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	2.2935925	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	16.164188	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	270623,050602,4736.237,-12256.551,9,0.8,12,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,050926,4736.249,-12256.568,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	3.3,535,-21.1,-10.000,-24.37,1578,0.159
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	N	IRON	1.000000,0.031484,-0.032928,-0.010108,1.045478,-0.062488,0.002039,-0.013247,0.921834,-196.850296,-1213.832397,-653.799561
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NET	xmit part outbox0028.n 1634 20	_24V_AH	14.87,17.444
MODEM_MSG	CACST,8,1,20230627052500.352982,18,32767,45,0143,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,7.0,2.32,-100,0.68,-01,0.12,69,925,0025,0,-1,00,00*33	_10V_AH	14.92,0.000
NAV	1687845925,0.1,start	FG_AHR_24Vo	16.409
NET_PING	1687845161,29,425.966980,5.400000,-0.565940	FG_AHR_10Vo	2.341
FREEZE	4.52,14.307,-1.525,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3207.18,281.16,1.124,0,500.6,527.4,473.9,698.95	MEM2	945448,26,101120,74
SM_GC	1.95,0.00,12.83,0.06,0.000,0.060,0.202,497.2,523.9,470.4,189.0,2040.2,0,0,0,30.00,15.57,15.56	DATA_FILE_SIZE	12912,452
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	195656,0
IRIDIUM_FIX	4736.00,-12258.89,270623,040649	SDSIZE	3887104,3861472
TCM_TEMP	-86.19	SDFILEDIR	327,36
SC_FREEKB	3867584	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
MODEM	1,1687842600,47.60500,-122.95000,0.496,727.0	CURRENT	0.022,212.1,1
RAFOS_FIX	4736.097168,-12257.027344,270623,050500,3,255,0.68	MAGCAL	1.000000,0.026489,-0.075958,-0.003639,1.097111,-0.109715,-0.061542,-0.004012,1.150219,-174.7,-1196.6,-838.0,36,0.0480,0
HUMID	52.21	IMPLIED_C_PITCH	1747,14.05,202,0.0,0.00
TEMP	11.19	IMPLIED_C_VBD	3257,20.117851,202,0
INTERNAL_PRESSURE	7.99383	GPS	270623,060632,4736.422,-12256.559,33,1.0,37,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	808	1315	15823.17	nil	0	0	0.00
Pitch_motor	26	263	104.24	nil	0	0	0.00
Roll_motor	66	307	302.53	nil	0	0	0.00
Iridium	135	164	331.14	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2177	5	166.33	SciCon	2903	6	283.01
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1014	0	4.84
Compass	951	5	70.96
RAFOS	1470	40	877.52
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
6.98	16386	-104.29	-1.64	0.00	494.9	518.6	471.1	190.2	2010.5	0.00	0.00	0	56.49	44.76	0.00	0.00	0.005	0.000	0.000	1842.16	1859.81	1824.50	190.31	2010.19	0	0	0	15.89	30.00	30.00
57.02	18727	-146.63	-1.69	80.00	1842.8	1861.9	1823.8	190.1	2010.1	3.22	-4.20	9	144.40	58.63	7.45	3.69	0.005	0.264	0.132	3948.56	3953.06	3944.06	1191.94	3488.88	0	0	0	15.91	15.77	15.84
288.13	3205	-146.63	-1.49	0.00	3949.9	3956.1	3943.8	1191.4	3487.8	39.28	-20.47	53	296.66	0.00	0.33	3.49	0.000	0.201	0.077	3950.31	3957.19	3943.44	1241.69	2008.50	0	0	0	30.00	15.88	15.90
485.35	644	-146.63	-1.39	-80.00	3951.6	3958.6	3944.6	1241.7	2008.2	71.48	-15.57	79	494.40	0.00	0.00	3.81	0.000	0.000	0.172	3950.25	3957.25	3943.25	1242.31	560.06	0	0	0	30.00	30.00	15.93
723.30	3205	-146.63	-1.26	0.00	3951.1	3958.4	3943.8	1241.9	560.0	117.00	-18.86	126	732.47	0.00	0.37	3.53	0.000	0.187	0.077	3950.66	3957.69	3943.62	1296.56	2035.06	0	0	0	30.00	15.97	15.99
918.30	388	-146.63	-1.22	80.00	3952.0	3959.7	3944.2	1297.5	2035.0	144.20	-13.29	146	927.09	0.00	0.00	3.64	0.000	0.000	0.144	3951.44	3958.56	3944.31	1297.00	3489.81	0	0	0	30.00	30.00	15.99
960	end dive: TARGET_DEPTH_EXCEEDED
state	960	begin apogee
968.04	10243	0.00	-0.36	0.00	3951.7	3959.2	3944.1	1297.2	2010.6	150.55	-15.40	154	1100.26	117.82	1.44	0.05	1.315	0.152	0.307	3348.84	3387.69	3310.00	1516.00	2039.88	0	0	0	12.00	15.97	15.60
1101	end apogee: CONTROL_FINISHED_OK
state	1101	begin climb
1101.80	10759	146.63	1.69	-80.00	3348.9	3387.1	3310.7	1515.9	2040.1	158.37	0.00	166	1254.94	124.34	3.20	4.19	1.280	0.105	0.179	2750.44	2797.44	2703.44	2012.88	559.94	0	0	0	11.83	15.62	15.40
1363.92	1156	146.63	1.72	0.00	2745.6	2788.3	2702.8	2013.0	559.8	137.79	11.85	214	1372.77	0.00	0.00	3.60	0.000	0.000	0.075	2744.00	2787.00	2701.00	2013.12	2040.19	0	0	0	30.00	30.00	15.70
1558.96	10663	162.58	1.82	80.00	2743.2	2788.6	2697.8	2013.2	2040.8	119.08	8.97	234	1583.43	13.93	0.17	3.69	1.154	0.083	0.144	2687.53	2732.25	2642.81	2059.56	3490.56	0	0	0	11.99	15.87	15.78
1676.25	1028	162.58	1.82	0.00	2685.0	2729.3	2640.6	2059.3	3489.8	105.24	12.15	256	1689.29	0.00	0.00	3.57	0.000	0.000	0.079	2684.34	2728.12	2640.56	2059.88	2010.44	0	0	0	30.00	30.00	15.82
1877.30	388	162.58	1.88	80.00	2683.7	2728.7	2638.7	2059.4	2010.4	84.09	10.41	277	1889.50	0.00	0.00	3.84	0.000	0.000	0.137	2683.72	2728.50	2638.94	2059.62	3490.50	0	0	0	30.00	30.00	15.26
1893.36	1028	162.58	1.88	0.00	2683.4	2728.1	2638.7	2058.9	3490.4	82.29	10.47	280	1902.10	0.00	0.00	3.57	0.000	0.000	0.077	2683.78	2727.25	2640.31	2059.06	2009.06	0	0	0	30.00	30.00	15.73
2090.75	8614	175.56	1.95	80.00	2683.1	2727.8	2638.4	2059.5	2009.2	63.35	9.16	300	2116.14	14.38	0.00	3.76	1.145	0.000	0.140	2631.62	2677.38	2585.88	2060.25	3488.75	0	0	0	11.97	30.00	15.79
2204.30	1156	175.56	1.98	0.00	2632.6	2677.6	2587.5	2060.3	3489.4	50.94	11.11	322	2212.67	0.00	0.00	3.54	0.000	0.000	0.079	2631.81	2676.12	2587.50	2060.38	2009.44	0	0	0	30.00	30.00	15.85
2396.21	10663	188.34	2.07	80.00	2631.3	2677.1	2585.6	2059.7	2009.9	32.77	9.17	359	2420.94	14.07	0.26	3.73	1.120	0.068	0.140	2579.94	2625.88	2534.00	2122.12	3493.31	0	0	0	11.82	15.97	15.88
2519.70	1028	188.34	2.07	0.00	2580.4	2626.1	2534.8	2121.7	3492.8	18.27	11.99	383	2528.57	0.00	0.00	3.52	0.000	0.000	0.077	2580.53	2625.38	2535.69	2121.38	2008.25	0	0	0	30.00	30.00	15.94
2710.03	8614	279.42	2.24	80.00	2579.3	2626.4	2532.2	2122.1	2008.1	5.38	4.10	419	2807.13	80.25	0.00	3.79	1.178	0.000	0.135	2207.84	2273.06	2142.62	2121.88	3489.00	0	0	0	12.00	30.00	15.66
2821.14	11431	417.86	2.50	0.00	2207.6	2272.9	2142.2	2122.1	3489.7	4.79	1.03	439	2895.59	59.63	0.52	3.56	1.143	0.054	0.073	1924.41	1999.50	1849.31	2222.38	2008.88	0	0	0	12.00	15.74	15.71
2896	end climb: NO_VERTICAL_VELOCITY
state	2896	begin surface