Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 41 * 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 41 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 2.6080706 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 17.651455 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 2.6080706 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 17.651455 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 41 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 270623,111301,4736.001,-12256.691,22,1.6,23,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,111610,4736.001,-12256.702,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 357.6,1021,-17.6,-10.000,-21.21,2209,0.168

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 CACST,8,1,20230627120742.189993,18,19981,43,0203,0108,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,11.3,0.69,-100,2.31,-01,0.25,66,10000,5000,0,-1,00,00*53 _24V_AH 14.86,19.056

NET_PING 1687866762,29,609.858032,13.400000,-0.811321 _10V_AH 14.92,0.000

MODEM_MSG CACST,8,0,20230627112500.470944,18,3231,29,0130,0000,246,03,03,01,03,1,029,121,0,5,1,0,150,-0.1,6.11,-100,-3.11,-01,-0.07,69,925,0025,0,1,00,00*2C FG_AHR_24Vo 17.897

NAV 1687867144,44.4,start FG_AHR_10Vo 2.656

FREEZE 5.62,13.804,-1.541,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3474.92,320.74,1.137,0,500.8,527.7,473.8,698.92 MEM2 945388,29,101120,74

SM_GC 1.83,0.00,12.64,0.06,0.000,0.058,0.200,497.0,523.4,470.6,188.0,2039.8,0,0,0,30.00,15.54,15.55 DATA_FILE_SIZE 12950,467

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 194992,0

IRIDIUM_FIX 4738.33,-12256.21,270623,101734 SDSIZE 3887104,3859552

TCM_TEMP -86.26 SDFILEDIR 375,42

SC_FREEKB 3865664 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 0,1687863600,47.60500,-122.95000,0.577,845.1 CURRENT 0.053, 62.9,1

RAFOS_FIX 4736.578125,-12257.021484,270623,111100,3,255,4.96 IMPLIED_C_PITCH 1764,13.30,217,0.0,0.00

HUMID 52.40 IMPLIED_C_VBD 3292,21.085173,217,0

TEMP 11.36 GPS 270623,121700,4736.416,-12256.390,1,0.9,4,15.4

INTERNAL_PRESSURE 7.99682

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 799 1312 15595.37 nil 0 0 0.00

Pitch_motor 26 259 101.54 nil 0 0 0.00

Roll_motor 65 293 287.34 nil 0 0 0.00

Iridium 117 162 283.08 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 2141 5 163.60 SciCon 3127 6 302.51

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1258 0 6.01

Compass 985 5 73.48

RAFOS 1051 40 627.51

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 0.00 494.7 519.0 470.4 186.7 2038.9 0.00 0.00 0 56.32 44.78 0.00 0.00 0.005 0.000 0.000 1845.06 1875.31 1814.81 186.75 2038.88 0 0 0 15.87 30.00 30.00

56.85 18727 -146.63 -1.44 80.00 1846.7 1877.8 1815.7 186.6 2038.4 3.46 -5.13 9 139.24 54.21 8.00 3.60 0.005 0.260 0.127 3949.03 3954.75 3943.31 1253.00 3490.44 0 0 0 15.90 15.76 15.84

358.56 3205 -146.63 -1.25 0.00 3951.5 3959.2 3943.8 1253.6 3490.9 48.56 -17.63 66 370.17 0.00 0.31 3.57 0.000 0.189 0.073 3951.44 3959.62 3943.25 1298.38 2008.75 0 0 0 30.00 15.85 15.51

557.88 388 -146.63 -1.15 80.00 3952.0 3960.5 3943.5 1298.0 2008.1 76.27 -13.59 87 566.77 0.00 0.00 3.73 0.000 0.000 0.125 3950.97 3960.06 3941.88 1299.19 3491.44 0 0 0 30.00 30.00 15.78

666.79 3205 -146.63 -1.01 0.00 3951.9 3960.8 3943.1 1299.9 3491.2 93.28 -15.97 108 676.08 0.00 0.38 3.54 0.000 0.169 0.075 3952.22 3961.06 3943.38 1356.81 2009.88 0 0 0 30.00 15.84 15.87

861.84 388 -146.63 -0.97 80.00 3953.2 3963.5 3942.9 1356.9 2009.8 115.38 -11.14 128 870.61 0.00 0.00 3.70 0.000 0.000 0.129 3952.69 3962.38 3943.00 1356.31 3490.06 0 0 0 30.00 30.00 15.94

963.69 3205 -146.63 -0.90 0.00 3952.7 3962.8 3942.5 1356.8 3490.2 128.36 -13.02 148 972.14 0.00 0.17 3.52 0.000 0.179 0.077 3952.91 3963.25 3942.56 1384.06 2008.88 0 0 0 30.00 15.95 15.97

1159.33 260 -146.63 -0.90 80.00 3953.6 3963.9 3943.2 1384.4 2009.2 148.81 -10.29 168 1168.27 0.00 0.00 3.69 0.000 0.000 0.132 3952.91 3963.31 3942.50 1383.88 3491.69 0 0 0 30.00 30.00 16.02

1171 end dive: TARGET_DEPTH_EXCEEDED

state 1171 begin apogee

1179.36 10243 0.00 -0.36 0.00 3953.4 3963.9 3942.9 1384.3 2008.9 150.18 -10.47 170 1311.92 118.18 0.85 0.06 1.313 0.135 0.294 3352.16 3391.81 3312.50 1516.50 2039.88 0 0 0 12.15 16.01 15.60

1313 end apogee: CONTROL_FINISHED_OK

state 1313 begin climb

1313.54 10759 146.63 1.44 -80.00 3348.4 3388.0 3308.9 1515.8 2040.0 157.94 0.00 183 1466.30 123.89 2.82 4.15 1.278 0.104 0.179 2750.94 2801.50 2700.38 1952.06 562.44 0 0 0 11.81 15.63 15.40

1545.32 9382 172.97 1.51 0.00 2746.1 2792.0 2700.2 1951.9 562.4 144.83 8.78 225 1580.42 24.08 0.00 3.59 1.205 0.000 0.072 2643.81 2693.94 2593.69 1952.00 2042.31 0 0 0 11.99 30.00 15.67

1769.53 10663 234.36 1.67 80.00 2640.1 2691.6 2588.6 1952.2 2042.2 127.98 7.16 250 1837.54 51.33 0.32 3.72 1.250 0.062 0.140 2391.88 2453.38 2330.38 2025.62 3489.50 0 0 0 11.98 15.81 15.60

1906.67 1156 234.36 1.70 0.00 2390.0 2451.2 2328.8 2025.8 3489.1 112.76 12.34 276 1915.58 0.00 0.00 3.59 0.000 0.000 0.078 2387.03 2448.25 2325.81 2026.31 2011.12 0 0 0 30.00 30.00 15.73

2101.69 388 234.36 1.76 80.00 2387.7 2450.1 2325.4 2026.1 2010.9 91.71 10.49 296 2110.79 0.00 0.00 3.75 0.000 0.000 0.136 2386.00 2448.25 2323.75 2026.19 3489.62 0 0 0 30.00 30.00 15.86

2164.15 1156 234.36 1.83 0.00 2387.2 2448.6 2325.7 2026.7 3490.9 84.78 11.25 307 2177.57 0.00 0.00 3.55 0.000 0.000 0.077 2386.75 2447.94 2325.56 2026.31 2010.81 0 0 0 30.00 30.00 15.86

2364.17 18823 234.36 1.90 80.00 2386.3 2448.4 2324.2 2026.9 2011.3 65.07 10.07 328 2373.59 0.00 0.19 3.72 0.000 0.076 0.136 2385.16 2446.31 2324.00 2073.12 3490.31 0 0 0 30.00 15.97 15.93

2416.56 17414 234.36 1.90 0.00 2386.3 2447.6 2324.9 2073.7 3490.9 58.49 12.82 338 2425.12 0.00 0.00 3.54 0.000 0.000 0.078 2385.72 2448.19 2323.25 2073.81 2010.12 0 0 0 30.00 30.00 15.95

2606.43 16774 234.36 1.93 80.00 2385.8 2447.4 2324.1 2073.9 2010.2 37.44 10.67 367 2615.29 0.00 0.00 3.70 0.000 0.000 0.136 2384.00 2445.19 2322.81 2073.25 3490.94 0 0 0 30.00 30.00 15.97

2669.01 17414 234.36 1.93 0.00 2385.9 2447.0 2324.8 2073.9 3489.8 30.09 11.82 379 2677.87 0.00 0.00 3.53 0.000 0.000 0.078 2384.22 2444.69 2323.75 2073.50 2009.62 0 0 0 30.00 30.00 15.99

2861.80 8354 255.34 2.00 0.00 2385.3 2446.6 2324.1 2073.4 2009.4 10.77 9.03 417 2886.97 19.44 0.00 0.00 1.145 0.000 0.000 2306.38 2368.19 2244.56 2073.81 2009.25 0 0 0 12.02 30.00 30.00

3071.24 10663 465.60 2.38 80.00 2304.3 2367.1 2241.6 2074.0 2009.0 6.08 0.26 458 3120.33 42.83 0.63 0.00 1.175 0.050 0.000 2113.44 2180.44 2046.44 2196.12 2008.31 0 0 0 11.91 15.98 30.00

3121 end climb: NO_VERTICAL_VELOCITY

state 3121 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	41	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	2.6080706	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	17.651455	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	270623,111301,4736.001,-12256.691,22,1.6,23,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,111610,4736.001,-12256.702,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	357.6,1021,-17.6,-10.000,-21.21,2209,0.168
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	CACST,8,1,20230627120742.189993,18,19981,43,0203,0108,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,11.3,0.69,-100,2.31,-01,0.25,66,10000,5000,0,-1,00,00*53	_24V_AH	14.86,19.056
NET_PING	1687866762,29,609.858032,13.400000,-0.811321	_10V_AH	14.92,0.000
MODEM_MSG	CACST,8,0,20230627112500.470944,18,3231,29,0130,0000,246,03,03,01,03,1,029,121,0,5,1,0,150,-0.1,6.11,-100,-3.11,-01,-0.07,69,925,0025,0,1,00,00*2C	FG_AHR_24Vo	17.897
NAV	1687867144,44.4,start	FG_AHR_10Vo	2.656
FREEZE	5.62,13.804,-1.541,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3474.92,320.74,1.137,0,500.8,527.7,473.8,698.92	MEM2	945388,29,101120,74
SM_GC	1.83,0.00,12.64,0.06,0.000,0.058,0.200,497.0,523.4,470.6,188.0,2039.8,0,0,0,30.00,15.54,15.55	DATA_FILE_SIZE	12950,467
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	194992,0
IRIDIUM_FIX	4738.33,-12256.21,270623,101734	SDSIZE	3887104,3859552
TCM_TEMP	-86.26	SDFILEDIR	375,42
SC_FREEKB	3865664	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	0,1687863600,47.60500,-122.95000,0.577,845.1	CURRENT	0.053, 62.9,1
RAFOS_FIX	4736.578125,-12257.021484,270623,111100,3,255,4.96	IMPLIED_C_PITCH	1764,13.30,217,0.0,0.00
HUMID	52.40	IMPLIED_C_VBD	3292,21.085173,217,0
TEMP	11.36	GPS	270623,121700,4736.416,-12256.390,1,0.9,4,15.4
INTERNAL_PRESSURE	7.99682

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	799	1312	15595.37	nil	0	0	0.00
Pitch_motor	26	259	101.54	nil	0	0	0.00
Roll_motor	65	293	287.34	nil	0	0	0.00
Iridium	117	162	283.08	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	2141	5	163.60	SciCon	3127	6	302.51
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1258	0	6.01
Compass	985	5	73.48
RAFOS	1051	40	627.51
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	494.7	519.0	470.4	186.7	2038.9	0.00	0.00	0	56.32	44.78	0.00	0.00	0.005	0.000	0.000	1845.06	1875.31	1814.81	186.75	2038.88	0	0	0	15.87	30.00	30.00
56.85	18727	-146.63	-1.44	80.00	1846.7	1877.8	1815.7	186.6	2038.4	3.46	-5.13	9	139.24	54.21	8.00	3.60	0.005	0.260	0.127	3949.03	3954.75	3943.31	1253.00	3490.44	0	0	0	15.90	15.76	15.84
358.56	3205	-146.63	-1.25	0.00	3951.5	3959.2	3943.8	1253.6	3490.9	48.56	-17.63	66	370.17	0.00	0.31	3.57	0.000	0.189	0.073	3951.44	3959.62	3943.25	1298.38	2008.75	0	0	0	30.00	15.85	15.51
557.88	388	-146.63	-1.15	80.00	3952.0	3960.5	3943.5	1298.0	2008.1	76.27	-13.59	87	566.77	0.00	0.00	3.73	0.000	0.000	0.125	3950.97	3960.06	3941.88	1299.19	3491.44	0	0	0	30.00	30.00	15.78
666.79	3205	-146.63	-1.01	0.00	3951.9	3960.8	3943.1	1299.9	3491.2	93.28	-15.97	108	676.08	0.00	0.38	3.54	0.000	0.169	0.075	3952.22	3961.06	3943.38	1356.81	2009.88	0	0	0	30.00	15.84	15.87
861.84	388	-146.63	-0.97	80.00	3953.2	3963.5	3942.9	1356.9	2009.8	115.38	-11.14	128	870.61	0.00	0.00	3.70	0.000	0.000	0.129	3952.69	3962.38	3943.00	1356.31	3490.06	0	0	0	30.00	30.00	15.94
963.69	3205	-146.63	-0.90	0.00	3952.7	3962.8	3942.5	1356.8	3490.2	128.36	-13.02	148	972.14	0.00	0.17	3.52	0.000	0.179	0.077	3952.91	3963.25	3942.56	1384.06	2008.88	0	0	0	30.00	15.95	15.97
1159.33	260	-146.63	-0.90	80.00	3953.6	3963.9	3943.2	1384.4	2009.2	148.81	-10.29	168	1168.27	0.00	0.00	3.69	0.000	0.000	0.132	3952.91	3963.31	3942.50	1383.88	3491.69	0	0	0	30.00	30.00	16.02
1171	end dive: TARGET_DEPTH_EXCEEDED
state	1171	begin apogee
1179.36	10243	0.00	-0.36	0.00	3953.4	3963.9	3942.9	1384.3	2008.9	150.18	-10.47	170	1311.92	118.18	0.85	0.06	1.313	0.135	0.294	3352.16	3391.81	3312.50	1516.50	2039.88	0	0	0	12.15	16.01	15.60
1313	end apogee: CONTROL_FINISHED_OK
state	1313	begin climb
1313.54	10759	146.63	1.44	-80.00	3348.4	3388.0	3308.9	1515.8	2040.0	157.94	0.00	183	1466.30	123.89	2.82	4.15	1.278	0.104	0.179	2750.94	2801.50	2700.38	1952.06	562.44	0	0	0	11.81	15.63	15.40
1545.32	9382	172.97	1.51	0.00	2746.1	2792.0	2700.2	1951.9	562.4	144.83	8.78	225	1580.42	24.08	0.00	3.59	1.205	0.000	0.072	2643.81	2693.94	2593.69	1952.00	2042.31	0	0	0	11.99	30.00	15.67
1769.53	10663	234.36	1.67	80.00	2640.1	2691.6	2588.6	1952.2	2042.2	127.98	7.16	250	1837.54	51.33	0.32	3.72	1.250	0.062	0.140	2391.88	2453.38	2330.38	2025.62	3489.50	0	0	0	11.98	15.81	15.60
1906.67	1156	234.36	1.70	0.00	2390.0	2451.2	2328.8	2025.8	3489.1	112.76	12.34	276	1915.58	0.00	0.00	3.59	0.000	0.000	0.078	2387.03	2448.25	2325.81	2026.31	2011.12	0	0	0	30.00	30.00	15.73
2101.69	388	234.36	1.76	80.00	2387.7	2450.1	2325.4	2026.1	2010.9	91.71	10.49	296	2110.79	0.00	0.00	3.75	0.000	0.000	0.136	2386.00	2448.25	2323.75	2026.19	3489.62	0	0	0	30.00	30.00	15.86
2164.15	1156	234.36	1.83	0.00	2387.2	2448.6	2325.7	2026.7	3490.9	84.78	11.25	307	2177.57	0.00	0.00	3.55	0.000	0.000	0.077	2386.75	2447.94	2325.56	2026.31	2010.81	0	0	0	30.00	30.00	15.86
2364.17	18823	234.36	1.90	80.00	2386.3	2448.4	2324.2	2026.9	2011.3	65.07	10.07	328	2373.59	0.00	0.19	3.72	0.000	0.076	0.136	2385.16	2446.31	2324.00	2073.12	3490.31	0	0	0	30.00	15.97	15.93
2416.56	17414	234.36	1.90	0.00	2386.3	2447.6	2324.9	2073.7	3490.9	58.49	12.82	338	2425.12	0.00	0.00	3.54	0.000	0.000	0.078	2385.72	2448.19	2323.25	2073.81	2010.12	0	0	0	30.00	30.00	15.95
2606.43	16774	234.36	1.93	80.00	2385.8	2447.4	2324.1	2073.9	2010.2	37.44	10.67	367	2615.29	0.00	0.00	3.70	0.000	0.000	0.136	2384.00	2445.19	2322.81	2073.25	3490.94	0	0	0	30.00	30.00	15.97
2669.01	17414	234.36	1.93	0.00	2385.9	2447.0	2324.8	2073.9	3489.8	30.09	11.82	379	2677.87	0.00	0.00	3.53	0.000	0.000	0.078	2384.22	2444.69	2323.75	2073.50	2009.62	0	0	0	30.00	30.00	15.99
2861.80	8354	255.34	2.00	0.00	2385.3	2446.6	2324.1	2073.4	2009.4	10.77	9.03	417	2886.97	19.44	0.00	0.00	1.145	0.000	0.000	2306.38	2368.19	2244.56	2073.81	2009.25	0	0	0	12.02	30.00	30.00
3071.24	10663	465.60	2.38	80.00	2304.3	2367.1	2241.6	2074.0	2009.0	6.08	0.26	458	3120.33	42.83	0.63	0.00	1.175	0.050	0.000	2113.44	2180.44	2046.44	2196.12	2008.31	0	0	0	11.91	15.98	30.00
3121	end climb: NO_VERTICAL_VELOCITY
state	3121	begin surface