Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 38 * 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 38 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 2.4416156 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 16.908493 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 2.4416156 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.908493 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 38 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 270623,080803,4735.951,-12256.826,10,1.3,45,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,081125,4735.957,-12256.800,2,1.0,5,15.4 MHEAD_RNG_PITCHd_Wd 6.9,1138,-17.6,-10.000,-21.21,2209,0.173

SPEED_LIMITS 0.173,0.258 D_GRID 166

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 8000266

Post-dive calculations and measurements:

NET xmit ok outbox0031.n 1643 26 _24V_AH 14.86,18.247

NET_PING 1687855964,29,437.121002,14.400000,-0.580859 _10V_AH 14.90,0.000

MODEM_MSG CACST,8,1,20230627082500.416921,18,32767,27,0152,0000,246,02,02,03,02,-1,-01,-01,2,3,1,0,150,-0.1,3.90,-100,-0.90,-01,-0.13,73,925,0025,0,-1,00,00*15 FG_AHR_24Vo 17.155

NAV 1687856341,8.3,start FG_AHR_10Vo 2.495

FREEZE 5.21,14.033,-1.529,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3418.68,322.29,1.141,0,500.9,526.3,475.4,698.89 MEM2 945444,26,101124,74

SM_GC 1.50,0.00,12.46,0.05,0.000,0.048,0.206,496.6,520.0,473.2,196.2,2040.4,0,0,0,30.00,15.56,15.55 DATA_FILE_SIZE 12937,462

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 190353,0

IRIDIUM_FIX 4737.86,-12251.79,270623,071051 SDSIZE 3887104,3860512

TCM_TEMP -86.22 SDFILEDIR 351,39

SC_FREEKB 3866624 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 1,1687853400,47.60500,-122.95000,0.598,876.5 CURRENT 0.043, 49.9,1

RAFOS_FIX 4736.355469,-12257.298828,270623,080800,3,255,1.18 MAGCAL 1.000000,0.043064,-0.113082,-0.042667,1.121473,0.067058,0.103457,-0.230365,1.247047,-144.8,-1273.6,-886.6,36,0.0503,0

HUMID 52.15 IMPLIED_C_PITCH 1769,13.37,214,0.0,0.00

TEMP 11.33 IMPLIED_C_VBD 3258,74.807510,214,0

INTERNAL_PRESSURE 7.99594 GPS 270623,091127,4736.365,-12256.540,9,1.9,13,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 802 1309 15607.46 nil 0 0 0.00

Pitch_motor 26 264 102.65 nil 0 0 0.00

Roll_motor 58 306 267.43 nil 0 0 0.00

Iridium 130 156 302.81 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 2179 5 166.30 SciCon 3069 6 298.15

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1176 0 5.61

Compass 975 5 72.66

RAFOS 1346 40 802.79

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 0.00 496.5 516.7 476.3 197.6 2012.3 0.00 0.00 0 50.90 39.78 0.00 0.00 0.005 0.000 0.000 1715.25 1710.25 1720.25 197.62 2012.12 0 0 0 15.91 30.00 30.00

51.42 18983 -146.63 -1.44 -80.00 1715.6 1710.9 1720.2 197.6 2012.0 3.26 -4.75 8 139.30 58.08 7.88 3.81 0.005 0.265 0.162 3949.44 3953.56 3945.31 1252.38 559.75 0 0 0 15.92 15.78 15.85

367.30 3205 -146.63 -1.23 0.00 3951.1 3956.5 3945.7 1252.4 559.7 52.41 -17.94 69 375.52 0.00 0.34 3.53 0.000 0.196 0.075 3951.03 3956.06 3946.00 1303.00 2036.94 0 0 0 30.00 15.90 15.93

563.09 388 -146.63 -1.13 80.00 3951.8 3957.9 3945.6 1303.2 2037.0 79.04 -13.68 89 572.04 0.00 0.00 3.64 0.000 0.000 0.140 3950.78 3957.19 3944.38 1303.00 3492.19 0 0 0 30.00 30.00 15.95

672.19 3205 -146.63 -1.10 0.00 3951.5 3958.1 3944.9 1303.3 3491.4 95.84 -15.40 109 681.03 0.00 0.20 3.53 0.000 0.178 0.076 3950.81 3956.94 3944.69 1336.25 2009.06 0 0 0 30.00 15.88 15.90

867.91 388 -146.63 -1.04 80.00 3952.1 3959.2 3945.0 1336.1 2009.1 120.08 -11.76 129 876.84 0.00 0.00 3.74 0.000 0.000 0.132 3951.62 3957.44 3945.81 1336.75 3490.38 0 0 0 30.00 30.00 15.79

977.28 3205 -146.63 -0.95 0.00 3952.0 3959.0 3944.9 1336.6 3490.3 134.89 -13.67 150 986.40 0.00 0.23 3.54 0.000 0.171 0.077 3951.09 3958.19 3944.00 1372.75 2011.00 0 0 0 30.00 15.86 15.87

1122 end dive: TARGET_DEPTH_EXCEEDED

state 1122 begin apogee

1123.88 10243 0.00 -0.36 0.00 3952.8 3960.1 3945.6 1372.9 2040.2 150.79 -10.93 165 1254.43 116.19 0.93 0.06 1.309 0.135 0.306 3351.78 3388.75 3314.81 1516.62 2012.44 0 0 0 11.98 15.92 15.54

1256 end apogee: CONTROL_FINISHED_OK

state 1256 begin climb

1256.04 10759 146.63 1.44 -80.00 3349.2 3386.4 3312.1 1516.7 2012.4 157.64 0.00 177 1408.99 124.25 2.82 4.05 1.278 0.106 0.182 2749.66 2797.06 2702.25 1952.19 562.38 0 0 0 11.68 15.59 15.38

1458.06 9382 188.31 1.53 0.00 2747.4 2791.1 2703.7 1951.9 562.4 147.24 8.07 213 1508.59 37.46 0.00 3.60 1.234 0.000 0.073 2580.75 2629.88 2531.62 1951.12 2040.44 0 0 0 11.87 30.00 15.62

1696.12 10663 233.26 1.68 80.00 2576.8 2627.2 2526.4 1952.2 2040.4 128.71 7.92 242 1747.56 38.25 0.33 3.72 1.241 0.064 0.144 2397.44 2456.56 2338.31 2028.12 3488.88 0 0 0 11.97 15.78 15.64

1855.71 1156 233.26 1.71 0.00 2394.7 2452.8 2336.6 2027.7 3488.8 110.36 11.96 273 1864.05 0.00 0.00 3.57 0.000 0.000 0.079 2396.16 2453.94 2338.38 2027.50 2011.19 0 0 0 30.00 30.00 15.78

2046.43 388 233.26 1.77 80.00 2393.0 2452.2 2333.7 2027.1 2011.2 90.57 10.36 292 2055.52 0.00 0.00 3.74 0.000 0.000 0.138 2390.41 2449.81 2331.00 2027.94 3491.25 0 0 0 30.00 30.00 15.86

2108.67 1156 233.26 1.81 0.00 2392.8 2451.7 2334.0 2027.9 3491.1 83.41 11.44 304 2117.13 0.00 0.00 3.54 0.000 0.000 0.078 2391.44 2450.56 2332.31 2028.00 2010.88 0 0 0 30.00 30.00 15.88

2304.54 10663 246.78 1.89 80.00 2392.1 2451.0 2333.2 2027.6 2010.6 64.46 9.37 324 2329.04 13.90 0.18 3.73 1.129 0.079 0.140 2341.53 2399.31 2283.75 2073.62 3490.31 0 0 0 12.05 16.01 15.89

2347.77 1028 246.78 1.89 0.00 2342.7 2400.3 2285.1 2073.6 3490.5 59.42 12.15 332 2356.85 0.00 0.00 3.52 0.000 0.000 0.078 2342.22 2399.00 2285.44 2073.31 2011.00 0 0 0 30.00 30.00 15.93

2538.74 388 246.78 1.93 80.00 2340.8 2399.6 2281.9 2074.0 2010.8 37.90 10.41 361 2553.31 0.00 0.00 3.72 0.000 0.000 0.138 2339.41 2398.56 2280.25 2073.56 3489.06 0 0 0 30.00 30.00 15.87

2622.04 1028 246.78 1.93 0.00 2340.6 2399.6 2281.6 2073.6 3488.9 27.98 11.94 377 2630.92 0.00 0.00 3.51 0.000 0.000 0.079 2339.47 2398.00 2280.94 2073.31 2011.12 0 0 0 30.00 30.00 15.93

2814.86 8354 284.48 2.03 0.00 2340.2 2399.1 2281.2 2073.1 2011.1 8.96 8.25 415 2856.45 34.58 0.00 0.00 1.172 0.000 0.000 2188.47 2249.69 2127.25 2073.25 2011.31 0 0 0 12.00 30.00 30.00

3040.38 10403 500.55 2.43 80.00 2184.7 2249.0 2120.3 2073.6 2011.4 5.19 -0.01 458 3062.10 17.51 0.71 0.00 1.124 0.051 0.000 2114.28 2177.62 2050.94 2209.00 2011.00 0 0 0 12.02 15.94 30.00

3063 end climb: NO_VERTICAL_VELOCITY

state 3063 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	38	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	2.4416156	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	16.908493	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	270623,080803,4735.951,-12256.826,10,1.3,45,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,081125,4735.957,-12256.800,2,1.0,5,15.4	MHEAD_RNG_PITCHd_Wd	6.9,1138,-17.6,-10.000,-21.21,2209,0.173
SPEED_LIMITS	0.173,0.258	D_GRID	166
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	8000266

NET	xmit ok outbox0031.n 1643 26	_24V_AH	14.86,18.247
NET_PING	1687855964,29,437.121002,14.400000,-0.580859	_10V_AH	14.90,0.000
MODEM_MSG	CACST,8,1,20230627082500.416921,18,32767,27,0152,0000,246,02,02,03,02,-1,-01,-01,2,3,1,0,150,-0.1,3.90,-100,-0.90,-01,-0.13,73,925,0025,0,-1,00,00*15	FG_AHR_24Vo	17.155
NAV	1687856341,8.3,start	FG_AHR_10Vo	2.495
FREEZE	5.21,14.033,-1.529,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3418.68,322.29,1.141,0,500.9,526.3,475.4,698.89	MEM2	945444,26,101124,74
SM_GC	1.50,0.00,12.46,0.05,0.000,0.048,0.206,496.6,520.0,473.2,196.2,2040.4,0,0,0,30.00,15.56,15.55	DATA_FILE_SIZE	12937,462
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	190353,0
IRIDIUM_FIX	4737.86,-12251.79,270623,071051	SDSIZE	3887104,3860512
TCM_TEMP	-86.22	SDFILEDIR	351,39
SC_FREEKB	3866624	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	1,1687853400,47.60500,-122.95000,0.598,876.5	CURRENT	0.043, 49.9,1
RAFOS_FIX	4736.355469,-12257.298828,270623,080800,3,255,1.18	MAGCAL	1.000000,0.043064,-0.113082,-0.042667,1.121473,0.067058,0.103457,-0.230365,1.247047,-144.8,-1273.6,-886.6,36,0.0503,0
HUMID	52.15	IMPLIED_C_PITCH	1769,13.37,214,0.0,0.00
TEMP	11.33	IMPLIED_C_VBD	3258,74.807510,214,0
INTERNAL_PRESSURE	7.99594	GPS	270623,091127,4736.365,-12256.540,9,1.9,13,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	802	1309	15607.46	nil	0	0	0.00
Pitch_motor	26	264	102.65	nil	0	0	0.00
Roll_motor	58	306	267.43	nil	0	0	0.00
Iridium	130	156	302.81	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	2179	5	166.30	SciCon	3069	6	298.15
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1176	0	5.61
Compass	975	5	72.66
RAFOS	1346	40	802.79
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	496.5	516.7	476.3	197.6	2012.3	0.00	0.00	0	50.90	39.78	0.00	0.00	0.005	0.000	0.000	1715.25	1710.25	1720.25	197.62	2012.12	0	0	0	15.91	30.00	30.00
51.42	18983	-146.63	-1.44	-80.00	1715.6	1710.9	1720.2	197.6	2012.0	3.26	-4.75	8	139.30	58.08	7.88	3.81	0.005	0.265	0.162	3949.44	3953.56	3945.31	1252.38	559.75	0	0	0	15.92	15.78	15.85
367.30	3205	-146.63	-1.23	0.00	3951.1	3956.5	3945.7	1252.4	559.7	52.41	-17.94	69	375.52	0.00	0.34	3.53	0.000	0.196	0.075	3951.03	3956.06	3946.00	1303.00	2036.94	0	0	0	30.00	15.90	15.93
563.09	388	-146.63	-1.13	80.00	3951.8	3957.9	3945.6	1303.2	2037.0	79.04	-13.68	89	572.04	0.00	0.00	3.64	0.000	0.000	0.140	3950.78	3957.19	3944.38	1303.00	3492.19	0	0	0	30.00	30.00	15.95
672.19	3205	-146.63	-1.10	0.00	3951.5	3958.1	3944.9	1303.3	3491.4	95.84	-15.40	109	681.03	0.00	0.20	3.53	0.000	0.178	0.076	3950.81	3956.94	3944.69	1336.25	2009.06	0	0	0	30.00	15.88	15.90
867.91	388	-146.63	-1.04	80.00	3952.1	3959.2	3945.0	1336.1	2009.1	120.08	-11.76	129	876.84	0.00	0.00	3.74	0.000	0.000	0.132	3951.62	3957.44	3945.81	1336.75	3490.38	0	0	0	30.00	30.00	15.79
977.28	3205	-146.63	-0.95	0.00	3952.0	3959.0	3944.9	1336.6	3490.3	134.89	-13.67	150	986.40	0.00	0.23	3.54	0.000	0.171	0.077	3951.09	3958.19	3944.00	1372.75	2011.00	0	0	0	30.00	15.86	15.87
1122	end dive: TARGET_DEPTH_EXCEEDED
state	1122	begin apogee
1123.88	10243	0.00	-0.36	0.00	3952.8	3960.1	3945.6	1372.9	2040.2	150.79	-10.93	165	1254.43	116.19	0.93	0.06	1.309	0.135	0.306	3351.78	3388.75	3314.81	1516.62	2012.44	0	0	0	11.98	15.92	15.54
1256	end apogee: CONTROL_FINISHED_OK
state	1256	begin climb
1256.04	10759	146.63	1.44	-80.00	3349.2	3386.4	3312.1	1516.7	2012.4	157.64	0.00	177	1408.99	124.25	2.82	4.05	1.278	0.106	0.182	2749.66	2797.06	2702.25	1952.19	562.38	0	0	0	11.68	15.59	15.38
1458.06	9382	188.31	1.53	0.00	2747.4	2791.1	2703.7	1951.9	562.4	147.24	8.07	213	1508.59	37.46	0.00	3.60	1.234	0.000	0.073	2580.75	2629.88	2531.62	1951.12	2040.44	0	0	0	11.87	30.00	15.62
1696.12	10663	233.26	1.68	80.00	2576.8	2627.2	2526.4	1952.2	2040.4	128.71	7.92	242	1747.56	38.25	0.33	3.72	1.241	0.064	0.144	2397.44	2456.56	2338.31	2028.12	3488.88	0	0	0	11.97	15.78	15.64
1855.71	1156	233.26	1.71	0.00	2394.7	2452.8	2336.6	2027.7	3488.8	110.36	11.96	273	1864.05	0.00	0.00	3.57	0.000	0.000	0.079	2396.16	2453.94	2338.38	2027.50	2011.19	0	0	0	30.00	30.00	15.78
2046.43	388	233.26	1.77	80.00	2393.0	2452.2	2333.7	2027.1	2011.2	90.57	10.36	292	2055.52	0.00	0.00	3.74	0.000	0.000	0.138	2390.41	2449.81	2331.00	2027.94	3491.25	0	0	0	30.00	30.00	15.86
2108.67	1156	233.26	1.81	0.00	2392.8	2451.7	2334.0	2027.9	3491.1	83.41	11.44	304	2117.13	0.00	0.00	3.54	0.000	0.000	0.078	2391.44	2450.56	2332.31	2028.00	2010.88	0	0	0	30.00	30.00	15.88
2304.54	10663	246.78	1.89	80.00	2392.1	2451.0	2333.2	2027.6	2010.6	64.46	9.37	324	2329.04	13.90	0.18	3.73	1.129	0.079	0.140	2341.53	2399.31	2283.75	2073.62	3490.31	0	0	0	12.05	16.01	15.89
2347.77	1028	246.78	1.89	0.00	2342.7	2400.3	2285.1	2073.6	3490.5	59.42	12.15	332	2356.85	0.00	0.00	3.52	0.000	0.000	0.078	2342.22	2399.00	2285.44	2073.31	2011.00	0	0	0	30.00	30.00	15.93
2538.74	388	246.78	1.93	80.00	2340.8	2399.6	2281.9	2074.0	2010.8	37.90	10.41	361	2553.31	0.00	0.00	3.72	0.000	0.000	0.138	2339.41	2398.56	2280.25	2073.56	3489.06	0	0	0	30.00	30.00	15.87
2622.04	1028	246.78	1.93	0.00	2340.6	2399.6	2281.6	2073.6	3488.9	27.98	11.94	377	2630.92	0.00	0.00	3.51	0.000	0.000	0.079	2339.47	2398.00	2280.94	2073.31	2011.12	0	0	0	30.00	30.00	15.93
2814.86	8354	284.48	2.03	0.00	2340.2	2399.1	2281.2	2073.1	2011.1	8.96	8.25	415	2856.45	34.58	0.00	0.00	1.172	0.000	0.000	2188.47	2249.69	2127.25	2073.25	2011.31	0	0	0	12.00	30.00	30.00
3040.38	10403	500.55	2.43	80.00	2184.7	2249.0	2120.3	2073.6	2011.4	5.19	-0.01	458	3062.10	17.51	0.71	0.00	1.124	0.051	0.000	2114.28	2177.62	2050.94	2209.00	2011.00	0	0	0	12.02	15.94	30.00
3063	end climb: NO_VERTICAL_VELOCITY
state	3063	begin surface