Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 4 * 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 4 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 10 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 0.87638235 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 8.3175325 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 10 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 0.87638235 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 8.3175325 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 4 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 250623,202154,4736.402,-12256.430,1,0.7,3,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,202731,4736.391,-12256.471,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 198.2,914,-17.6,-10.000,-21.21,2209,0.138

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S 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 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687728501,0.1,3,stop _10V_AH 15.00,0.000

NET CACST,8,1,20230625210750.354097,18,32767,45,0103,0113,07,01,01,00,01,-1,-01,-01,1,3,302,0,150,21.6,7.00,-100,-4.00,-01,2.06,58,10000,5000,0,-1,00,00*77 FG_AHR_24Vo 8.566

FREEZE 4.75,14.423,-1.491,0,1,0 FG_AHR_10Vo 0.911

SURF forcing MEM0 59804,1,0,0

SM_CCo 3493.89,307.20,1.164,0,500.5,523.6,477.4,698.97 MEM1 65508,1,0,0

SM_GC 1.66,0.00,12.05,3.56,0.000,0.057,0.080,497.6,519.8,475.5,193.1,2010.8,0,0,0,30.00,15.61,15.59 MEM2 945508,25,101080,74

MODEM_MSG CACST,8,1,20230625212000.537121,18,2219,33,0112,0000,246,02,02,00,04,-1,-01,-01,1,3,0,0,150,-38.9,0.68,-100,2.32,-01,0.09,59,925,0025,0,-1,00,00*1E DATA_FILE_SIZE 12920,471

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 184576,0

IRIDIUM_FIX 4736.00,-12258.89,250623,202307 SDSIZE 3887104,3871776

TCM_TEMP -86.25 SDFILEDIR 67,5

SC_FREEKB 3877504 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687726800,47.60500,-122.95000,0.393,575.7 CURRENT 0.033,102.7,1

RAFOS_FIX 4736.599121,-12257.000000,250623,212100,3,255,0.24 MAGCAL 1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-189.0,-1190.0,-718.9,34,0.0297,1

HUMID 53.18 IMPLIED_C_PITCH 1769,13.32,221,0.0,0.00

TEMP 11.45 IMPLIED_C_VBD 3324,18.104126,211,0

INTERNAL_PRESSURE 8.01106 GPS 250623,212850,4736.032,-12256.607,2,1.1,3,15.4

_24V_AH 14.98,8.884

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 801 1340 16087.21 nil 0 0 0.00

Pitch_motor 25 260 97.84 nil 0 0 0.00

Roll_motor 65 303 295.20 nil 0 0 0.00

Iridium 211 161 509.78 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 2123 5 163.06 SciCon 3160 6 305.68

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1458 0 7.00

Compass 996 5 74.71

RAFOS 1947 40 1168.44

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 0.00 495.8 517.0 474.5 190.3 2010.6 0.00 0.00 0 77.90 64.78 0.00 0.00 0.005 0.000 0.000 2314.81 2332.69 2296.94 190.31 2010.81 0 0 0 16.01 30.00 30.00

78.43 18983 -146.63 -1.44 -80.00 2314.5 2332.4 2296.6 190.4 2010.8 3.29 -3.19 13 152.11 45.31 7.80 3.69 0.005 0.261 0.167 3947.72 3952.25 3943.19 1252.25 560.75 0 0 0 16.04 15.88 15.95

380.92 3205 -146.63 -1.23 0.00 3949.5 3955.3 3943.6 1252.1 560.9 49.82 -17.82 70 389.48 0.00 0.34 3.45 0.000 0.203 0.078 3949.50 3955.19 3943.81 1304.12 2037.88 0 0 0 30.00 15.98 16.03

574.11 388 -146.63 -1.13 80.00 3951.0 3958.2 3943.8 1304.4 2037.2 73.90 -12.35 90 585.75 0.00 0.00 3.60 0.000 0.000 0.146 3951.97 3959.44 3944.50 1305.06 3488.81 0 0 0 30.00 30.00 16.03

638.84 3205 -146.63 -1.00 0.00 3951.0 3958.2 3943.8 1304.9 3489.6 84.31 -15.11 103 647.38 0.00 0.35 3.43 0.000 0.175 0.078 3951.44 3958.62 3944.25 1360.12 2010.25 0 0 0 30.00 16.03 16.07

834.65 388 -146.63 -0.96 80.00 3951.4 3959.0 3943.9 1360.3 2009.8 106.06 -10.74 123 843.50 0.00 0.00 3.64 0.000 0.000 0.139 3876.38 3809.19 3943.56 1360.00 3491.19 0 0 0 30.00 30.00 16.09

942.38 3205 -146.63 -0.89 0.00 3951.6 3959.7 3943.5 1360.9 3491.8 119.07 -12.15 144 951.25 0.00 0.17 3.46 0.000 0.187 0.080 3951.84 3959.19 3944.50 1388.00 2009.69 0 0 0 30.00 16.08 16.11

1141.21 260 -146.63 -0.89 80.00 3952.0 3960.7 3943.4 1387.6 2009.9 139.10 -10.20 164 1150.15 0.00 0.00 3.65 0.000 0.000 0.141 3952.41 3960.69 3944.12 1387.94 3489.31 0 0 0 30.00 30.00 16.09

1239 end dive: TARGET_DEPTH_EXCEEDED

state 1239 begin apogee

1246.87 10243 0.00 -0.36 0.00 3952.6 3960.8 3944.3 1387.2 2008.9 150.47 -11.85 183 1376.98 115.99 0.81 0.06 1.340 0.140 0.303 3348.06 3388.62 3307.50 1516.31 2038.69 0 0 0 12.01 16.11 15.69

1378 end apogee: CONTROL_FINISHED_OK

state 1378 begin climb

1378.46 10759 146.63 1.44 -80.00 3347.8 3388.5 3307.1 1516.5 2038.4 158.09 0.00 195 1528.06 122.34 2.78 4.00 1.302 0.112 0.184 2750.72 2801.81 2699.62 1951.81 561.12 0 0 0 11.85 15.71 15.46

1552.07 9382 194.82 1.54 0.00 2747.6 2796.1 2699.2 1952.0 561.2 150.02 7.77 225 1608.46 42.03 0.00 3.56 1.258 0.000 0.077 2553.81 2610.38 2497.25 1951.56 2038.88 0 0 0 11.86 30.00 15.63

1792.37 10663 234.32 1.69 80.00 2548.8 2604.1 2493.4 1952.2 2039.5 130.96 8.17 254 1839.06 34.12 0.34 3.69 1.252 0.066 0.150 2392.97 2452.62 2333.31 2026.00 3489.19 0 0 0 11.90 15.84 15.68

1951.66 1156 234.32 1.72 0.00 2389.8 2449.1 2330.5 2025.8 3488.9 111.85 12.52 283 1960.02 0.00 0.00 3.56 0.000 0.000 0.082 2389.34 2449.75 2328.94 2025.06 2010.50 0 0 0 30.00 30.00 15.80

2147.44 388 234.32 1.78 80.00 2388.5 2448.7 2328.4 2026.1 2010.7 90.74 10.52 303 2156.55 0.00 0.00 3.72 0.000 0.000 0.144 2389.62 2448.44 2330.81 2024.44 3490.50 0 0 0 30.00 30.00 15.89

2225.45 1156 234.32 1.83 0.00 2388.0 2447.9 2328.1 2025.6 3490.0 81.67 11.64 318 2234.40 0.00 0.00 3.52 0.000 0.000 0.081 2386.12 2447.00 2325.25 2025.56 2010.56 0 0 0 30.00 30.00 15.93

2420.57 2209 238.07 1.90 0.00 2387.2 2447.6 2326.9 2025.6 2010.2 61.72 9.83 338 2422.87 0.00 0.20 0.00 0.000 0.083 0.000 2385.31 2445.12 2325.50 2074.69 2011.25 0 0 0 30.00 15.98 30.00

2605.49 388 238.07 1.93 80.00 2387.1 2447.2 2326.9 2075.0 2011.1 40.71 11.35 364 2614.37 0.00 0.00 3.69 0.000 0.000 0.145 2387.72 2448.44 2327.00 2074.25 3489.88 0 0 0 30.00 30.00 15.98

2758.11 1028 238.07 1.93 0.00 2386.8 2446.6 2326.9 2074.5 3489.6 22.30 11.42 394 2766.84 0.00 0.00 3.48 0.000 0.000 0.081 2388.00 2446.75 2329.25 2073.31 2008.88 0 0 0 30.00 30.00 16.02

2950.78 10663 315.91 2.10 80.00 2385.9 2445.9 2325.8 2074.6 2008.9 5.62 6.40 432 3035.85 69.50 0.20 3.75 1.210 0.085 0.144 2062.75 2130.00 1995.50 2125.31 3487.38 0 0 0 11.85 16.05 15.77

3155 end climb: NO_VERTICAL_VELOCITY

state 3155 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	4	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	10	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	0.87638235	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	8.3175325	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	250623,202154,4736.402,-12256.430,1,0.7,3,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,202731,4736.391,-12256.471,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	198.2,914,-17.6,-10.000,-21.21,2209,0.138
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000307

NAV	1687728501,0.1,3,stop	_10V_AH	15.00,0.000
NET	CACST,8,1,20230625210750.354097,18,32767,45,0103,0113,07,01,01,00,01,-1,-01,-01,1,3,302,0,150,21.6,7.00,-100,-4.00,-01,2.06,58,10000,5000,0,-1,00,00*77	FG_AHR_24Vo	8.566
FREEZE	4.75,14.423,-1.491,0,1,0	FG_AHR_10Vo	0.911
SURF	forcing	MEM0	59804,1,0,0
SM_CCo	3493.89,307.20,1.164,0,500.5,523.6,477.4,698.97	MEM1	65508,1,0,0
SM_GC	1.66,0.00,12.05,3.56,0.000,0.057,0.080,497.6,519.8,475.5,193.1,2010.8,0,0,0,30.00,15.61,15.59	MEM2	945508,25,101080,74
MODEM_MSG	CACST,8,1,20230625212000.537121,18,2219,33,0112,0000,246,02,02,00,04,-1,-01,-01,1,3,0,0,150,-38.9,0.68,-100,2.32,-01,0.09,59,925,0025,0,-1,00,00*1E	DATA_FILE_SIZE	12920,471
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	184576,0
IRIDIUM_FIX	4736.00,-12258.89,250623,202307	SDSIZE	3887104,3871776
TCM_TEMP	-86.25	SDFILEDIR	67,5
SC_FREEKB	3877504	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687726800,47.60500,-122.95000,0.393,575.7	CURRENT	0.033,102.7,1
RAFOS_FIX	4736.599121,-12257.000000,250623,212100,3,255,0.24	MAGCAL	1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-189.0,-1190.0,-718.9,34,0.0297,1
HUMID	53.18	IMPLIED_C_PITCH	1769,13.32,221,0.0,0.00
TEMP	11.45	IMPLIED_C_VBD	3324,18.104126,211,0
INTERNAL_PRESSURE	8.01106	GPS	250623,212850,4736.032,-12256.607,2,1.1,3,15.4
_24V_AH	14.98,8.884

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	801	1340	16087.21	nil	0	0	0.00
Pitch_motor	25	260	97.84	nil	0	0	0.00
Roll_motor	65	303	295.20	nil	0	0	0.00
Iridium	211	161	509.78	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	2123	5	163.06	SciCon	3160	6	305.68
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1458	0	7.00
Compass	996	5	74.71
RAFOS	1947	40	1168.44
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	517.0	474.5	190.3	2010.6	0.00	0.00	0	77.90	64.78	0.00	0.00	0.005	0.000	0.000	2314.81	2332.69	2296.94	190.31	2010.81	0	0	0	16.01	30.00	30.00
78.43	18983	-146.63	-1.44	-80.00	2314.5	2332.4	2296.6	190.4	2010.8	3.29	-3.19	13	152.11	45.31	7.80	3.69	0.005	0.261	0.167	3947.72	3952.25	3943.19	1252.25	560.75	0	0	0	16.04	15.88	15.95
380.92	3205	-146.63	-1.23	0.00	3949.5	3955.3	3943.6	1252.1	560.9	49.82	-17.82	70	389.48	0.00	0.34	3.45	0.000	0.203	0.078	3949.50	3955.19	3943.81	1304.12	2037.88	0	0	0	30.00	15.98	16.03
574.11	388	-146.63	-1.13	80.00	3951.0	3958.2	3943.8	1304.4	2037.2	73.90	-12.35	90	585.75	0.00	0.00	3.60	0.000	0.000	0.146	3951.97	3959.44	3944.50	1305.06	3488.81	0	0	0	30.00	30.00	16.03
638.84	3205	-146.63	-1.00	0.00	3951.0	3958.2	3943.8	1304.9	3489.6	84.31	-15.11	103	647.38	0.00	0.35	3.43	0.000	0.175	0.078	3951.44	3958.62	3944.25	1360.12	2010.25	0	0	0	30.00	16.03	16.07
834.65	388	-146.63	-0.96	80.00	3951.4	3959.0	3943.9	1360.3	2009.8	106.06	-10.74	123	843.50	0.00	0.00	3.64	0.000	0.000	0.139	3876.38	3809.19	3943.56	1360.00	3491.19	0	0	0	30.00	30.00	16.09
942.38	3205	-146.63	-0.89	0.00	3951.6	3959.7	3943.5	1360.9	3491.8	119.07	-12.15	144	951.25	0.00	0.17	3.46	0.000	0.187	0.080	3951.84	3959.19	3944.50	1388.00	2009.69	0	0	0	30.00	16.08	16.11
1141.21	260	-146.63	-0.89	80.00	3952.0	3960.7	3943.4	1387.6	2009.9	139.10	-10.20	164	1150.15	0.00	0.00	3.65	0.000	0.000	0.141	3952.41	3960.69	3944.12	1387.94	3489.31	0	0	0	30.00	30.00	16.09
1239	end dive: TARGET_DEPTH_EXCEEDED
state	1239	begin apogee
1246.87	10243	0.00	-0.36	0.00	3952.6	3960.8	3944.3	1387.2	2008.9	150.47	-11.85	183	1376.98	115.99	0.81	0.06	1.340	0.140	0.303	3348.06	3388.62	3307.50	1516.31	2038.69	0	0	0	12.01	16.11	15.69
1378	end apogee: CONTROL_FINISHED_OK
state	1378	begin climb
1378.46	10759	146.63	1.44	-80.00	3347.8	3388.5	3307.1	1516.5	2038.4	158.09	0.00	195	1528.06	122.34	2.78	4.00	1.302	0.112	0.184	2750.72	2801.81	2699.62	1951.81	561.12	0	0	0	11.85	15.71	15.46
1552.07	9382	194.82	1.54	0.00	2747.6	2796.1	2699.2	1952.0	561.2	150.02	7.77	225	1608.46	42.03	0.00	3.56	1.258	0.000	0.077	2553.81	2610.38	2497.25	1951.56	2038.88	0	0	0	11.86	30.00	15.63
1792.37	10663	234.32	1.69	80.00	2548.8	2604.1	2493.4	1952.2	2039.5	130.96	8.17	254	1839.06	34.12	0.34	3.69	1.252	0.066	0.150	2392.97	2452.62	2333.31	2026.00	3489.19	0	0	0	11.90	15.84	15.68
1951.66	1156	234.32	1.72	0.00	2389.8	2449.1	2330.5	2025.8	3488.9	111.85	12.52	283	1960.02	0.00	0.00	3.56	0.000	0.000	0.082	2389.34	2449.75	2328.94	2025.06	2010.50	0	0	0	30.00	30.00	15.80
2147.44	388	234.32	1.78	80.00	2388.5	2448.7	2328.4	2026.1	2010.7	90.74	10.52	303	2156.55	0.00	0.00	3.72	0.000	0.000	0.144	2389.62	2448.44	2330.81	2024.44	3490.50	0	0	0	30.00	30.00	15.89
2225.45	1156	234.32	1.83	0.00	2388.0	2447.9	2328.1	2025.6	3490.0	81.67	11.64	318	2234.40	0.00	0.00	3.52	0.000	0.000	0.081	2386.12	2447.00	2325.25	2025.56	2010.56	0	0	0	30.00	30.00	15.93
2420.57	2209	238.07	1.90	0.00	2387.2	2447.6	2326.9	2025.6	2010.2	61.72	9.83	338	2422.87	0.00	0.20	0.00	0.000	0.083	0.000	2385.31	2445.12	2325.50	2074.69	2011.25	0	0	0	30.00	15.98	30.00
2605.49	388	238.07	1.93	80.00	2387.1	2447.2	2326.9	2075.0	2011.1	40.71	11.35	364	2614.37	0.00	0.00	3.69	0.000	0.000	0.145	2387.72	2448.44	2327.00	2074.25	3489.88	0	0	0	30.00	30.00	15.98
2758.11	1028	238.07	1.93	0.00	2386.8	2446.6	2326.9	2074.5	3489.6	22.30	11.42	394	2766.84	0.00	0.00	3.48	0.000	0.000	0.081	2388.00	2446.75	2329.25	2073.31	2008.88	0	0	0	30.00	30.00	16.02
2950.78	10663	315.91	2.10	80.00	2385.9	2445.9	2325.8	2074.6	2008.9	5.62	6.40	432	3035.85	69.50	0.20	3.75	1.210	0.085	0.144	2062.75	2130.00	1995.50	2125.31	3487.38	0	0	0	11.85	16.05	15.77
3155	end climb: NO_VERTICAL_VELOCITY
state	3155	begin surface