Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 36 * 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 36 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 2.3444622 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 16.415024 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 2.3444622 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.415024 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 36 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 270623,060632,4736.422,-12256.559,33,1.0,37,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,060950,4736.438,-12256.561,2,0.7,3,15.4 MHEAD_RNG_PITCHd_Wd 181.9,952,-17.6,-10.000,-21.21,2209,0.152

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NET xmit ok outbox0029.n 1636 26 _24V_AH 14.86,17.715

NET_PING 1687848761,29,447.612000,10.300000,-0.594997 _10V_AH 14.91,0.000

MODEM_MSG CACST,8,1,20230627062500.258646,18,1116,30,0106,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,-7.2,2.35,-100,0.65,-01,-0.28,76,925,0025,0,-1,00,00*03 FG_AHR_24Vo 16.662

NAV 1687849145,5.3,start FG_AHR_10Vo 2.399

FREEZE 5.00,14.218,-1.528,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3405.80,312.81,1.138,0,500.8,528.1,473.6,698.90 MEM2 945476,25,101112,74

SM_GC 1.97,0.00,12.09,0.06,0.000,0.040,0.201,497.1,523.1,471.0,195.3,2040.2,0,0,0,30.00,15.57,15.55 DATA_FILE_SIZE 12915,471

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 191827,0

IRIDIUM_FIX 4737.86,-12251.79,270623,050715 SDSIZE 3887104,3861152

TCM_TEMP -86.23 SDFILEDIR 335,37

SC_FREEKB 3867264 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 1,1687846200,47.60500,-122.95000,0.396,579.6 CURRENT 0.011,300.4,1

RAFOS_FIX 4736.600586,-12257.083008,270623,060600,3,255,0.79 MAGCAL 1.000000,0.024207,-0.062907,-0.011826,1.081601,-0.095585,-0.013031,0.012484,0.977161,-171.1,-1189.5,-704.7,36,0.0465,0

HUMID 52.14 IMPLIED_C_PITCH 1769,13.40,213,0.0,0.00

TEMP 11.21 IMPLIED_C_VBD 3303,20.062578,213,0

INTERNAL_PRESSURE 7.99181 GPS 270623,070935,4736.173,-12256.656,1,0.8,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 808 1310 15752.80 nil 0 0 0.00

Pitch_motor 25 259 98.76 nil 0 0 0.00

Roll_motor 59 287 252.44 nil 0 0 0.00

Iridium 127 163 311.01 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 2235 5 170.65 SciCon 3067 6 296.87

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1114 0 5.32

Compass 987 5 73.65

RAFOS 1444 40 861.46

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

6.78 16386 -146.63 -1.44 0.00 494.5 517.8 471.1 185.4 2009.9 0.00 0.00 0 56.33 44.74 0.00 0.00 0.005 0.000 0.000 1841.59 1859.06 1824.12 185.69 2010.06 0 0 0 15.88 30.00 30.00

56.88 18983 -146.63 -1.44 -80.00 1842.4 1860.9 1823.8 185.5 2009.9 3.34 -4.60 9 144.83 57.56 7.95 3.76 0.005 0.260 0.164 3948.91 3954.06 3943.75 1252.25 560.81 0 0 0 15.91 15.77 15.84

328.61 3205 -146.63 -1.23 0.00 3950.9 3957.4 3944.3 1252.6 560.9 43.85 -18.12 61 337.14 0.00 0.35 3.54 0.000 0.197 0.075 3950.16 3956.81 3943.50 1304.25 2039.25 0 0 0 30.00 15.88 15.93

525.84 644 -146.63 -1.13 -80.00 3951.6 3958.9 3944.2 1304.8 2038.7 70.73 -13.58 85 535.00 0.00 0.00 3.96 0.000 0.000 0.164 3951.19 3958.62 3943.75 1305.00 561.25 0 0 0 30.00 30.00 15.93

751.06 3205 -146.63 -1.00 0.00 3951.4 3958.9 3943.9 1304.8 561.2 106.83 -16.34 128 763.26 0.00 0.35 3.54 0.000 0.176 0.075 3951.47 3958.50 3944.44 1359.88 2035.94 0 0 0 30.00 15.91 15.51

950.31 388 -146.63 -0.96 80.00 3952.3 3960.6 3943.9 1359.5 2035.3 129.56 -10.97 149 959.13 0.00 0.00 3.66 0.000 0.000 0.138 3952.12 3960.75 3943.50 1358.81 3490.69 0 0 0 30.00 30.00 15.79

1058.01 1156 -146.63 -0.89 0.00 3952.8 3961.2 3944.3 1359.6 3490.2 142.97 -12.58 170 1066.78 0.00 0.00 3.53 0.000 0.000 0.078 3952.12 3960.75 3943.50 1359.56 2010.12 0 0 0 30.00 30.00 15.88

1123 end dive: TARGET_DEPTH_EXCEEDED

state 1123 begin apogee

1124.61 10243 0.00 -0.36 0.00 3952.9 3961.8 3944.0 1359.5 2040.8 150.32 -11.17 177 1256.37 117.18 1.02 0.07 1.310 0.138 0.288 3349.91 3389.44 3310.38 1516.56 2011.00 0 0 0 11.97 15.89 15.53

1258 end apogee: CONTROL_FINISHED_OK

state 1258 begin climb

1257.98 10759 146.63 1.44 -80.00 3349.3 3387.8 3310.9 1516.6 2010.9 157.12 0.00 189 1410.93 124.37 2.82 4.10 1.279 0.105 0.182 2750.31 2800.75 2699.88 1953.50 561.88 0 0 0 11.93 15.57 15.38

1439.93 9382 192.65 1.53 0.00 2748.0 2795.1 2700.9 1953.4 561.9 148.19 7.87 221 1496.41 41.29 0.00 3.62 1.237 0.000 0.074 2563.34 2617.12 2509.56 1953.25 2040.31 0 0 0 11.71 30.00 15.58

1679.29 10663 221.20 1.66 80.00 2558.4 2612.2 2504.7 1953.4 2040.9 128.43 8.68 250 1718.18 25.27 0.31 3.73 1.216 0.066 0.144 2446.38 2503.38 2389.38 2019.88 3489.31 0 0 0 11.88 15.31 15.62

1806.35 1156 221.20 1.70 0.00 2444.5 2501.9 2387.2 2019.4 3489.2 113.53 12.10 275 1814.83 0.00 0.00 3.62 0.000 0.000 0.079 2445.28 2501.75 2388.81 2019.94 2011.19 0 0 0 30.00 30.00 15.75

2002.13 388 221.20 1.76 80.00 2443.7 2501.8 2385.6 2019.8 2010.9 92.87 10.07 295 2011.26 0.00 0.00 3.74 0.000 0.000 0.138 2443.28 2503.06 2383.50 2019.62 3489.88 0 0 0 30.00 30.00 15.87

2076.43 1156 221.20 1.80 0.00 2443.1 2501.1 2385.1 2019.4 3490.4 84.47 11.11 306 2085.35 0.00 0.00 3.54 0.000 0.000 0.080 2441.09 2498.94 2383.25 2017.62 2010.94 0 0 0 30.00 30.00 15.89

2271.55 10663 233.41 1.88 80.00 2442.5 2500.4 2384.5 2019.3 2009.9 65.85 9.43 326 2296.14 13.22 0.22 3.73 1.123 0.072 0.140 2397.16 2455.69 2338.62 2071.62 3489.69 0 0 0 12.04 15.99 15.90

2359.10 1028 233.41 1.88 0.00 2396.2 2454.0 2338.5 2071.9 3489.3 55.23 12.80 343 2367.63 0.00 0.00 3.51 0.000 0.000 0.080 2395.97 2452.81 2339.12 2072.69 2009.62 0 0 0 30.00 30.00 15.94

2550.70 128 233.41 1.92 0.00 2395.1 2453.8 2336.5 2072.4 2009.6 34.34 10.51 375 2554.60 0.00 0.00 0.00 0.000 0.000 0.000 2394.50 2452.19 2336.81 2072.62 2009.81 0 0 0 30.00 30.00 30.00

2735.82 8614 239.65 1.97 80.00 2394.7 2453.3 2336.0 2072.2 2009.7 15.55 9.71 412 2754.45 7.70 0.00 3.72 0.977 0.000 0.140 2370.84 2429.44 2312.25 2071.75 3489.44 0 0 0 11.93 30.00 15.95

2980.50 11431 428.03 2.26 0.00 2370.7 2430.2 2311.2 2071.8 3488.8 5.53 1.27 457 3060.18 64.81 0.47 3.49 1.184 0.056 0.075 2073.91 2141.44 2006.38 2163.75 2008.12 0 0 0 12.14 16.02 16.01

3061 end climb: NO_VERTICAL_VELOCITY

state 3061 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	36	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	2.3444622	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	16.415024	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	270623,060632,4736.422,-12256.559,33,1.0,37,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,060950,4736.438,-12256.561,2,0.7,3,15.4	MHEAD_RNG_PITCHd_Wd	181.9,952,-17.6,-10.000,-21.21,2209,0.152
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000307

NET	xmit ok outbox0029.n 1636 26	_24V_AH	14.86,17.715
NET_PING	1687848761,29,447.612000,10.300000,-0.594997	_10V_AH	14.91,0.000
MODEM_MSG	CACST,8,1,20230627062500.258646,18,1116,30,0106,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,-7.2,2.35,-100,0.65,-01,-0.28,76,925,0025,0,-1,00,00*03	FG_AHR_24Vo	16.662
NAV	1687849145,5.3,start	FG_AHR_10Vo	2.399
FREEZE	5.00,14.218,-1.528,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3405.80,312.81,1.138,0,500.8,528.1,473.6,698.90	MEM2	945476,25,101112,74
SM_GC	1.97,0.00,12.09,0.06,0.000,0.040,0.201,497.1,523.1,471.0,195.3,2040.2,0,0,0,30.00,15.57,15.55	DATA_FILE_SIZE	12915,471
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	191827,0
IRIDIUM_FIX	4737.86,-12251.79,270623,050715	SDSIZE	3887104,3861152
TCM_TEMP	-86.23	SDFILEDIR	335,37
SC_FREEKB	3867264	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	1,1687846200,47.60500,-122.95000,0.396,579.6	CURRENT	0.011,300.4,1
RAFOS_FIX	4736.600586,-12257.083008,270623,060600,3,255,0.79	MAGCAL	1.000000,0.024207,-0.062907,-0.011826,1.081601,-0.095585,-0.013031,0.012484,0.977161,-171.1,-1189.5,-704.7,36,0.0465,0
HUMID	52.14	IMPLIED_C_PITCH	1769,13.40,213,0.0,0.00
TEMP	11.21	IMPLIED_C_VBD	3303,20.062578,213,0
INTERNAL_PRESSURE	7.99181	GPS	270623,070935,4736.173,-12256.656,1,0.8,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	808	1310	15752.80	nil	0	0	0.00
Pitch_motor	25	259	98.76	nil	0	0	0.00
Roll_motor	59	287	252.44	nil	0	0	0.00
Iridium	127	163	311.01	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	2235	5	170.65	SciCon	3067	6	296.87
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1114	0	5.32
Compass	987	5	73.65
RAFOS	1444	40	861.46
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
6.78	16386	-146.63	-1.44	0.00	494.5	517.8	471.1	185.4	2009.9	0.00	0.00	0	56.33	44.74	0.00	0.00	0.005	0.000	0.000	1841.59	1859.06	1824.12	185.69	2010.06	0	0	0	15.88	30.00	30.00
56.88	18983	-146.63	-1.44	-80.00	1842.4	1860.9	1823.8	185.5	2009.9	3.34	-4.60	9	144.83	57.56	7.95	3.76	0.005	0.260	0.164	3948.91	3954.06	3943.75	1252.25	560.81	0	0	0	15.91	15.77	15.84
328.61	3205	-146.63	-1.23	0.00	3950.9	3957.4	3944.3	1252.6	560.9	43.85	-18.12	61	337.14	0.00	0.35	3.54	0.000	0.197	0.075	3950.16	3956.81	3943.50	1304.25	2039.25	0	0	0	30.00	15.88	15.93
525.84	644	-146.63	-1.13	-80.00	3951.6	3958.9	3944.2	1304.8	2038.7	70.73	-13.58	85	535.00	0.00	0.00	3.96	0.000	0.000	0.164	3951.19	3958.62	3943.75	1305.00	561.25	0	0	0	30.00	30.00	15.93
751.06	3205	-146.63	-1.00	0.00	3951.4	3958.9	3943.9	1304.8	561.2	106.83	-16.34	128	763.26	0.00	0.35	3.54	0.000	0.176	0.075	3951.47	3958.50	3944.44	1359.88	2035.94	0	0	0	30.00	15.91	15.51
950.31	388	-146.63	-0.96	80.00	3952.3	3960.6	3943.9	1359.5	2035.3	129.56	-10.97	149	959.13	0.00	0.00	3.66	0.000	0.000	0.138	3952.12	3960.75	3943.50	1358.81	3490.69	0	0	0	30.00	30.00	15.79
1058.01	1156	-146.63	-0.89	0.00	3952.8	3961.2	3944.3	1359.6	3490.2	142.97	-12.58	170	1066.78	0.00	0.00	3.53	0.000	0.000	0.078	3952.12	3960.75	3943.50	1359.56	2010.12	0	0	0	30.00	30.00	15.88
1123	end dive: TARGET_DEPTH_EXCEEDED
state	1123	begin apogee
1124.61	10243	0.00	-0.36	0.00	3952.9	3961.8	3944.0	1359.5	2040.8	150.32	-11.17	177	1256.37	117.18	1.02	0.07	1.310	0.138	0.288	3349.91	3389.44	3310.38	1516.56	2011.00	0	0	0	11.97	15.89	15.53
1258	end apogee: CONTROL_FINISHED_OK
state	1258	begin climb
1257.98	10759	146.63	1.44	-80.00	3349.3	3387.8	3310.9	1516.6	2010.9	157.12	0.00	189	1410.93	124.37	2.82	4.10	1.279	0.105	0.182	2750.31	2800.75	2699.88	1953.50	561.88	0	0	0	11.93	15.57	15.38
1439.93	9382	192.65	1.53	0.00	2748.0	2795.1	2700.9	1953.4	561.9	148.19	7.87	221	1496.41	41.29	0.00	3.62	1.237	0.000	0.074	2563.34	2617.12	2509.56	1953.25	2040.31	0	0	0	11.71	30.00	15.58
1679.29	10663	221.20	1.66	80.00	2558.4	2612.2	2504.7	1953.4	2040.9	128.43	8.68	250	1718.18	25.27	0.31	3.73	1.216	0.066	0.144	2446.38	2503.38	2389.38	2019.88	3489.31	0	0	0	11.88	15.31	15.62
1806.35	1156	221.20	1.70	0.00	2444.5	2501.9	2387.2	2019.4	3489.2	113.53	12.10	275	1814.83	0.00	0.00	3.62	0.000	0.000	0.079	2445.28	2501.75	2388.81	2019.94	2011.19	0	0	0	30.00	30.00	15.75
2002.13	388	221.20	1.76	80.00	2443.7	2501.8	2385.6	2019.8	2010.9	92.87	10.07	295	2011.26	0.00	0.00	3.74	0.000	0.000	0.138	2443.28	2503.06	2383.50	2019.62	3489.88	0	0	0	30.00	30.00	15.87
2076.43	1156	221.20	1.80	0.00	2443.1	2501.1	2385.1	2019.4	3490.4	84.47	11.11	306	2085.35	0.00	0.00	3.54	0.000	0.000	0.080	2441.09	2498.94	2383.25	2017.62	2010.94	0	0	0	30.00	30.00	15.89
2271.55	10663	233.41	1.88	80.00	2442.5	2500.4	2384.5	2019.3	2009.9	65.85	9.43	326	2296.14	13.22	0.22	3.73	1.123	0.072	0.140	2397.16	2455.69	2338.62	2071.62	3489.69	0	0	0	12.04	15.99	15.90
2359.10	1028	233.41	1.88	0.00	2396.2	2454.0	2338.5	2071.9	3489.3	55.23	12.80	343	2367.63	0.00	0.00	3.51	0.000	0.000	0.080	2395.97	2452.81	2339.12	2072.69	2009.62	0	0	0	30.00	30.00	15.94
2550.70	128	233.41	1.92	0.00	2395.1	2453.8	2336.5	2072.4	2009.6	34.34	10.51	375	2554.60	0.00	0.00	0.00	0.000	0.000	0.000	2394.50	2452.19	2336.81	2072.62	2009.81	0	0	0	30.00	30.00	30.00
2735.82	8614	239.65	1.97	80.00	2394.7	2453.3	2336.0	2072.2	2009.7	15.55	9.71	412	2754.45	7.70	0.00	3.72	0.977	0.000	0.140	2370.84	2429.44	2312.25	2071.75	3489.44	0	0	0	11.93	30.00	15.95
2980.50	11431	428.03	2.26	0.00	2370.7	2430.2	2311.2	2071.8	3488.8	5.53	1.27	457	3060.18	64.81	0.47	3.49	1.184	0.056	0.075	2073.91	2141.44	2006.38	2163.75	2008.12	0	0	0	12.14	16.02	16.01
3061	end climb: NO_VERTICAL_VELOCITY
state	3061	begin surface