Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 39 * 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 39 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 2.4981742 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 17.160862 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 2.4981742 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 17.160862 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 39 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 270623,091127,4736.365,-12256.540,9,1.9,13,15.4 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 -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,091440,4736.378,-12256.506,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 193.5,873,-17.6,-10.000,-21.21,2209,0.166

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 outbox0032.n 1617 26 _24V_AH 14.85,18.524

NET_PING 1687859562,29,459.277496,12.400000,-0.610380 _10V_AH 14.92,0.000

MODEM_MSG CACST,8,0,20230627092500.279460,18,26561,44,0314,0000,07,01,01,00,03,1,029,121,0,5,1,0,150,-31.4,5.85,-100,-2.85,-01,-0.12,50,925,0025,0,1,00,00*1E FG_AHR_24Vo 17.410

NAV 1687859945,39.7,start FG_AHR_10Vo 2.554

FREEZE 5.40,13.749,-1.545,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3523.69,317.70,1.140,0,500.7,526.8,474.6,698.94 MEM2 945464,27,101084,74

SM_GC 2.09,0.00,12.45,0.06,0.000,0.053,0.203,497.2,522.8,471.6,189.2,2041.6,0,0,0,30.00,15.56,15.55 DATA_FILE_SIZE 12938,482

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 198033,0

IRIDIUM_FIX 4735.53,-12254.47,270623,080918 SDSIZE 3887104,3860160

TCM_TEMP -86.26 SDFILEDIR 359,40

SC_FREEKB 3866304 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 0,1687856400,47.60500,-122.95000,0.372,545.7 CURRENT 0.044, 30.9,1

RAFOS_FIX 4736.770020,-12257.055664,270623,090900,4,255,1.61 MAGCAL 1.000000,0.012931,-0.112761,-0.033621,1.143334,-0.072408,0.088616,-0.113612,1.277171,-144.0,-1220.2,-887.1,31,0.0356,0

HUMID 52.39 IMPLIED_C_PITCH 1761,13.15,225,0.0,0.00

TEMP 11.25 IMPLIED_C_VBD 3290,17.006824,225,0

INTERNAL_PRESSURE 7.99545 GPS 270623,101622,4736.102,-12256.738,2,1.3,7,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 800 1326 15777.18 nil 0 0 0.00

Pitch_motor 25 265 101.65 nil 0 0 0.00

Roll_motor 65 281 275.15 nil 0 0 0.00

Iridium 122 162 295.91 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.13 nil 0 0 0.00

Core 2188 5 167.16 SciCon 3179 6 306.92

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1269 0 6.06

Compass 1009 5 75.29

RAFOS 1139 40 680.13

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

6.79 16386 -146.63 -1.44 0.00 495.0 516.6 473.3 195.1 2011.1 0.00 0.00 0 50.91 39.78 0.00 0.00 0.005 0.000 0.000 1718.00 1728.56 1707.44 195.31 2011.44 0 0 0 15.87 30.00 30.00

51.43 18727 -146.63 -1.44 80.00 1719.2 1730.2 1708.1 194.8 2011.4 3.37 -5.04 8 139.15 58.24 7.89 3.68 0.005 0.265 0.131 3949.06 3954.38 3943.75 1252.00 3492.56 0 0 0 15.89 15.76 15.84

272.88 3205 -146.63 -1.23 0.00 3950.7 3958.6 3942.8 1252.4 3492.9 35.04 -18.01 50 281.30 0.00 0.34 3.50 0.000 0.192 0.076 3950.81 3958.19 3943.44 1304.00 2008.19 0 0 0 30.00 15.87 15.90

470.08 388 -146.63 -1.13 80.00 3951.3 3959.6 3943.1 1304.1 2009.4 62.66 -13.63 80 483.01 0.00 0.00 3.71 0.000 0.000 0.128 3951.00 3958.88 3943.12 1304.50 3495.25 0 0 0 30.00 30.00 15.90

546.10 3205 -146.63 -1.00 0.00 3951.0 3959.0 3942.9 1304.6 3495.0 74.59 -15.67 95 555.77 0.00 0.35 3.49 0.000 0.169 0.076 3951.47 3959.12 3943.81 1359.38 2009.06 0 0 0 30.00 15.89 15.91

739.56 388 -146.63 -0.96 80.00 3952.1 3961.2 3943.1 1359.2 2009.4 97.51 -11.58 115 748.36 0.00 0.00 3.69 0.000 0.000 0.130 3951.84 3960.50 3943.19 1360.50 3490.75 0 0 0 30.00 30.00 15.96

841.44 3205 -146.63 -0.89 0.00 3952.5 3961.8 3943.2 1360.6 3491.0 110.57 -12.92 135 849.81 0.00 0.16 3.50 0.000 0.185 0.078 3952.44 3961.25 3943.62 1386.56 2008.25 0 0 0 30.00 15.97 15.99

1037.16 292 -146.63 -0.89 80.00 3953.7 3963.4 3943.9 1386.6 2008.4 130.36 -9.84 155 1046.06 0.00 0.00 3.69 0.000 0.000 0.132 3952.88 3963.06 3942.69 1386.88 3492.50 0 0 0 30.00 30.00 16.03

1149.15 1156 -146.63 -0.85 0.00 3952.9 3962.9 3942.9 1386.8 3493.1 143.01 -11.42 177 1157.22 0.00 0.00 3.49 0.000 0.000 0.079 3953.56 3963.62 3943.50 1386.56 2009.94 0 0 0 30.00 30.00 16.05

1225 end dive: TARGET_DEPTH_EXCEEDED

state 1225 begin apogee

1226.52 10243 0.00 -0.36 0.00 3953.6 3964.0 3943.1 1386.8 2041.0 150.71 -10.03 185 1356.78 116.47 0.82 0.07 1.327 0.130 0.282 3348.38 3386.62 3310.12 1517.12 2010.81 0 0 0 12.06 16.06 15.23

1358 end apogee: CONTROL_FINISHED_OK

state 1358 begin climb

1358.38 10759 146.63 1.44 -80.00 3348.9 3387.2 3310.5 1517.8 2011.1 156.82 0.00 197 1508.89 123.93 2.79 4.07 1.285 0.104 0.184 2747.97 2797.00 2698.94 1952.12 562.38 0 0 0 11.83 15.64 15.39

1552.23 9382 178.07 1.52 0.00 2746.9 2792.9 2701.0 1951.6 562.4 146.70 8.54 231 1593.36 28.19 0.00 3.59 1.223 0.000 0.072 2624.00 2676.12 2571.88 1951.88 2039.44 0 0 0 11.83 30.00 15.61

1782.52 10663 213.78 1.65 80.00 2619.1 2669.4 2568.8 1952.0 2038.9 128.23 8.35 257 1828.33 30.73 0.29 3.71 1.236 0.066 0.142 2476.06 2531.19 2420.94 2022.19 3490.62 0 0 0 11.83 15.78 15.64

1911.29 1028 213.78 1.65 0.00 2474.9 2529.9 2419.9 2022.5 3490.5 113.30 12.19 282 1919.81 0.00 0.00 3.57 0.000 0.000 0.079 2476.00 2530.81 2421.19 2021.75 2011.00 0 0 0 30.00 30.00 15.75

2107.35 420 215.72 1.71 80.00 2472.9 2529.2 2416.5 2021.8 2010.9 93.22 9.91 302 2116.37 0.00 0.00 3.73 0.000 0.000 0.138 2473.50 2529.75 2417.25 2022.56 3490.31 0 0 0 30.00 30.00 15.87

2175.27 1156 215.72 1.75 0.00 2472.6 2528.2 2416.9 2021.9 3490.4 85.95 10.87 315 2184.18 0.00 0.00 3.53 0.000 0.000 0.079 2470.06 2526.75 2413.38 2022.75 2010.06 0 0 0 30.00 30.00 15.91

2368.67 8614 237.78 1.84 80.00 2471.6 2527.3 2415.9 2022.6 2010.1 68.04 8.98 335 2404.32 24.19 0.00 3.80 1.186 0.000 0.139 2377.62 2437.38 2317.88 2021.44 3491.94 0 0 0 11.99 30.00 15.67

2457.46 3205 237.78 1.88 0.00 2377.8 2436.8 2318.8 2022.2 3490.8 59.18 10.50 352 2466.23 0.00 0.20 3.57 0.000 0.072 0.077 2375.97 2434.44 2317.50 2063.38 2008.88 0 0 0 30.00 15.75 15.73

2647.44 128 237.78 1.92 0.00 2376.1 2436.4 2315.7 2073.7 2008.6 38.14 10.97 380 2651.33 0.00 0.00 0.00 0.000 0.000 0.000 2374.59 2435.12 2314.06 2073.50 2008.31 0 0 0 30.00 30.00 30.00

2832.47 388 237.78 1.96 80.00 2375.9 2436.9 2314.9 2073.4 2008.2 18.30 10.34 417 2841.35 0.00 0.00 3.73 0.000 0.000 0.138 2374.19 2435.12 2313.25 2073.56 3489.38 0 0 0 30.00 30.00 15.90

2910.09 1028 237.78 1.96 0.00 2375.2 2435.6 2314.8 2073.4 3488.8 10.35 10.06 432 2918.96 0.00 0.00 3.51 0.000 0.000 0.078 2377.91 2438.56 2317.25 2073.38 2009.31 0 0 0 30.00 30.00 15.93

3102.91 10403 436.20 2.30 0.00 2374.8 2435.1 2314.4 2073.6 2008.8 5.78 0.81 470 3172.37 61.70 0.51 0.00 1.189 0.051 0.000 2093.75 2160.69 2026.81 2175.12 2009.06 0 0 0 12.08 15.99 30.00

3173 end climb: NO_VERTICAL_VELOCITY

state 3173 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	39	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	2.4981742	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	17.160862	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	270623,091127,4736.365,-12256.540,9,1.9,13,15.4	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	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,091440,4736.378,-12256.506,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	193.5,873,-17.6,-10.000,-21.21,2209,0.166
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 outbox0032.n 1617 26	_24V_AH	14.85,18.524
NET_PING	1687859562,29,459.277496,12.400000,-0.610380	_10V_AH	14.92,0.000
MODEM_MSG	CACST,8,0,20230627092500.279460,18,26561,44,0314,0000,07,01,01,00,03,1,029,121,0,5,1,0,150,-31.4,5.85,-100,-2.85,-01,-0.12,50,925,0025,0,1,00,00*1E	FG_AHR_24Vo	17.410
NAV	1687859945,39.7,start	FG_AHR_10Vo	2.554
FREEZE	5.40,13.749,-1.545,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3523.69,317.70,1.140,0,500.7,526.8,474.6,698.94	MEM2	945464,27,101084,74
SM_GC	2.09,0.00,12.45,0.06,0.000,0.053,0.203,497.2,522.8,471.6,189.2,2041.6,0,0,0,30.00,15.56,15.55	DATA_FILE_SIZE	12938,482
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	198033,0
IRIDIUM_FIX	4735.53,-12254.47,270623,080918	SDSIZE	3887104,3860160
TCM_TEMP	-86.26	SDFILEDIR	359,40
SC_FREEKB	3866304	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	0,1687856400,47.60500,-122.95000,0.372,545.7	CURRENT	0.044, 30.9,1
RAFOS_FIX	4736.770020,-12257.055664,270623,090900,4,255,1.61	MAGCAL	1.000000,0.012931,-0.112761,-0.033621,1.143334,-0.072408,0.088616,-0.113612,1.277171,-144.0,-1220.2,-887.1,31,0.0356,0
HUMID	52.39	IMPLIED_C_PITCH	1761,13.15,225,0.0,0.00
TEMP	11.25	IMPLIED_C_VBD	3290,17.006824,225,0
INTERNAL_PRESSURE	7.99545	GPS	270623,101622,4736.102,-12256.738,2,1.3,7,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	800	1326	15777.18	nil	0	0	0.00
Pitch_motor	25	265	101.65	nil	0	0	0.00
Roll_motor	65	281	275.15	nil	0	0	0.00
Iridium	122	162	295.91	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.13	nil	0	0	0.00
Core	2188	5	167.16	SciCon	3179	6	306.92
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1269	0	6.06
Compass	1009	5	75.29
RAFOS	1139	40	680.13
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
6.79	16386	-146.63	-1.44	0.00	495.0	516.6	473.3	195.1	2011.1	0.00	0.00	0	50.91	39.78	0.00	0.00	0.005	0.000	0.000	1718.00	1728.56	1707.44	195.31	2011.44	0	0	0	15.87	30.00	30.00
51.43	18727	-146.63	-1.44	80.00	1719.2	1730.2	1708.1	194.8	2011.4	3.37	-5.04	8	139.15	58.24	7.89	3.68	0.005	0.265	0.131	3949.06	3954.38	3943.75	1252.00	3492.56	0	0	0	15.89	15.76	15.84
272.88	3205	-146.63	-1.23	0.00	3950.7	3958.6	3942.8	1252.4	3492.9	35.04	-18.01	50	281.30	0.00	0.34	3.50	0.000	0.192	0.076	3950.81	3958.19	3943.44	1304.00	2008.19	0	0	0	30.00	15.87	15.90
470.08	388	-146.63	-1.13	80.00	3951.3	3959.6	3943.1	1304.1	2009.4	62.66	-13.63	80	483.01	0.00	0.00	3.71	0.000	0.000	0.128	3951.00	3958.88	3943.12	1304.50	3495.25	0	0	0	30.00	30.00	15.90
546.10	3205	-146.63	-1.00	0.00	3951.0	3959.0	3942.9	1304.6	3495.0	74.59	-15.67	95	555.77	0.00	0.35	3.49	0.000	0.169	0.076	3951.47	3959.12	3943.81	1359.38	2009.06	0	0	0	30.00	15.89	15.91
739.56	388	-146.63	-0.96	80.00	3952.1	3961.2	3943.1	1359.2	2009.4	97.51	-11.58	115	748.36	0.00	0.00	3.69	0.000	0.000	0.130	3951.84	3960.50	3943.19	1360.50	3490.75	0	0	0	30.00	30.00	15.96
841.44	3205	-146.63	-0.89	0.00	3952.5	3961.8	3943.2	1360.6	3491.0	110.57	-12.92	135	849.81	0.00	0.16	3.50	0.000	0.185	0.078	3952.44	3961.25	3943.62	1386.56	2008.25	0	0	0	30.00	15.97	15.99
1037.16	292	-146.63	-0.89	80.00	3953.7	3963.4	3943.9	1386.6	2008.4	130.36	-9.84	155	1046.06	0.00	0.00	3.69	0.000	0.000	0.132	3952.88	3963.06	3942.69	1386.88	3492.50	0	0	0	30.00	30.00	16.03
1149.15	1156	-146.63	-0.85	0.00	3952.9	3962.9	3942.9	1386.8	3493.1	143.01	-11.42	177	1157.22	0.00	0.00	3.49	0.000	0.000	0.079	3953.56	3963.62	3943.50	1386.56	2009.94	0	0	0	30.00	30.00	16.05
1225	end dive: TARGET_DEPTH_EXCEEDED
state	1225	begin apogee
1226.52	10243	0.00	-0.36	0.00	3953.6	3964.0	3943.1	1386.8	2041.0	150.71	-10.03	185	1356.78	116.47	0.82	0.07	1.327	0.130	0.282	3348.38	3386.62	3310.12	1517.12	2010.81	0	0	0	12.06	16.06	15.23
1358	end apogee: CONTROL_FINISHED_OK
state	1358	begin climb
1358.38	10759	146.63	1.44	-80.00	3348.9	3387.2	3310.5	1517.8	2011.1	156.82	0.00	197	1508.89	123.93	2.79	4.07	1.285	0.104	0.184	2747.97	2797.00	2698.94	1952.12	562.38	0	0	0	11.83	15.64	15.39
1552.23	9382	178.07	1.52	0.00	2746.9	2792.9	2701.0	1951.6	562.4	146.70	8.54	231	1593.36	28.19	0.00	3.59	1.223	0.000	0.072	2624.00	2676.12	2571.88	1951.88	2039.44	0	0	0	11.83	30.00	15.61
1782.52	10663	213.78	1.65	80.00	2619.1	2669.4	2568.8	1952.0	2038.9	128.23	8.35	257	1828.33	30.73	0.29	3.71	1.236	0.066	0.142	2476.06	2531.19	2420.94	2022.19	3490.62	0	0	0	11.83	15.78	15.64
1911.29	1028	213.78	1.65	0.00	2474.9	2529.9	2419.9	2022.5	3490.5	113.30	12.19	282	1919.81	0.00	0.00	3.57	0.000	0.000	0.079	2476.00	2530.81	2421.19	2021.75	2011.00	0	0	0	30.00	30.00	15.75
2107.35	420	215.72	1.71	80.00	2472.9	2529.2	2416.5	2021.8	2010.9	93.22	9.91	302	2116.37	0.00	0.00	3.73	0.000	0.000	0.138	2473.50	2529.75	2417.25	2022.56	3490.31	0	0	0	30.00	30.00	15.87
2175.27	1156	215.72	1.75	0.00	2472.6	2528.2	2416.9	2021.9	3490.4	85.95	10.87	315	2184.18	0.00	0.00	3.53	0.000	0.000	0.079	2470.06	2526.75	2413.38	2022.75	2010.06	0	0	0	30.00	30.00	15.91
2368.67	8614	237.78	1.84	80.00	2471.6	2527.3	2415.9	2022.6	2010.1	68.04	8.98	335	2404.32	24.19	0.00	3.80	1.186	0.000	0.139	2377.62	2437.38	2317.88	2021.44	3491.94	0	0	0	11.99	30.00	15.67
2457.46	3205	237.78	1.88	0.00	2377.8	2436.8	2318.8	2022.2	3490.8	59.18	10.50	352	2466.23	0.00	0.20	3.57	0.000	0.072	0.077	2375.97	2434.44	2317.50	2063.38	2008.88	0	0	0	30.00	15.75	15.73
2647.44	128	237.78	1.92	0.00	2376.1	2436.4	2315.7	2073.7	2008.6	38.14	10.97	380	2651.33	0.00	0.00	0.00	0.000	0.000	0.000	2374.59	2435.12	2314.06	2073.50	2008.31	0	0	0	30.00	30.00	30.00
2832.47	388	237.78	1.96	80.00	2375.9	2436.9	2314.9	2073.4	2008.2	18.30	10.34	417	2841.35	0.00	0.00	3.73	0.000	0.000	0.138	2374.19	2435.12	2313.25	2073.56	3489.38	0	0	0	30.00	30.00	15.90
2910.09	1028	237.78	1.96	0.00	2375.2	2435.6	2314.8	2073.4	3488.8	10.35	10.06	432	2918.96	0.00	0.00	3.51	0.000	0.000	0.078	2377.91	2438.56	2317.25	2073.38	2009.31	0	0	0	30.00	30.00	15.93
3102.91	10403	436.20	2.30	0.00	2374.8	2435.1	2314.4	2073.6	2008.8	5.78	0.81	470	3172.37	61.70	0.51	0.00	1.189	0.051	0.000	2093.75	2160.69	2026.81	2175.12	2009.06	0	0	0	12.08	15.99	30.00
3173	end climb: NO_VERTICAL_VELOCITY
state	3173	begin surface