Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 42 * 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 42 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 2.6592515 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 17.902061 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 2.6592515 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 17.902061 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 42 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 270623,121700,4736.416,-12256.390,1,0.9,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,122020,4736.421,-12256.386,2,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 201.6,1014,-17.6,-10.000,-21.21,2209,0.149

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 CACST,8,0,20230627130810.306336,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,16.5,8.90,-100,-5.90,-01,0.10,67,10000,5000,0,1,00,00*7E _24V_AH 14.85,19.332

MODEM_MSG CACST,8,0,20230627122500.387634,18,15925,42,0298,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,0.6,8.65,-100,-5.65,-01,-0.27,75,925,0025,0,1,00,00*33 _10V_AH 14.91,0.000

NAV 1687870741,84.9,start FG_AHR_24Vo 18.151

NET_PING 1687871263,29,460.693481,12.100000,-0.611817 FG_AHR_10Vo 2.710

FREEZE 5.29,14.409,-1.512,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3569.66,309.15,1.148,0,500.7,527.6,473.8,698.94 MEM2 945332,32,101116,74

SM_GC 2.24,0.00,12.26,0.06,0.000,0.055,0.191,497.6,524.1,471.2,186.2,2042.5,0,0,0,30.00,15.55,15.54 DATA_FILE_SIZE 12929,491

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 202304,0

IRIDIUM_FIX 4736.87,-12256.21,270623,111412 SDSIZE 3887104,3859200

TCM_TEMP -86.27 SDFILEDIR 383,43

SC_FREEKB 3865344 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 0,1687867200,47.60500,-122.95000,0.394,576.5 CURRENT 0.022, 15.7,1

RAFOS_FIX 4736.794434,-12257.012695,270623,121200,3,255,3.73 IMPLIED_C_PITCH 1762,12.87,228,0.0,0.00

HUMID 52.34 IMPLIED_C_VBD 3299,27.704844,228,0

TEMP 11.27 GPS 270623,132243,4736.173,-12256.748,1,1.9,4,15.4

INTERNAL_PRESSURE 7.99129

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 796 1321 15638.06 nil 0 0 0.00

Pitch_motor 26 257 100.37 nil 0 0 0.00

Roll_motor 73 297 324.91 nil 0 0 0.00

Iridium 126 155 293.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.31 nil 0 0 0.00

Core 2218 5 169.33 SciCon 3235 6 310.82

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1300 0 6.21

Compass 1022 5 76.21

RAFOS 802 40 478.88

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 0.00 494.2 517.8 470.7 187.9 2010.7 0.00 0.00 0 56.42 44.74 0.00 0.00 0.005 0.000 0.000 1849.62 1870.19 1829.06 187.94 2010.06 0 0 0 15.87 30.00 30.00

56.95 18983 -146.63 -1.44 -80.00 1849.8 1870.1 1829.6 187.9 2010.4 3.50 -5.13 9 137.48 52.28 7.95 3.80 0.005 0.257 0.165 3948.84 3954.94 3942.75 1251.88 560.00 0 0 0 15.18 15.76 15.80

186.23 3205 -146.63 -1.21 0.00 3950.9 3957.6 3944.2 1252.2 559.4 21.08 -19.63 32 194.76 0.00 0.37 3.54 0.000 0.196 0.075 3950.31 3957.69 3942.94 1307.50 2035.62 0 0 0 30.00 15.82 15.85

378.46 388 -146.63 -1.11 80.00 3950.8 3958.9 3942.8 1308.1 2035.4 47.95 -13.62 70 390.03 0.00 0.00 3.67 0.000 0.000 0.136 3951.28 3958.56 3944.00 1307.56 3491.00 0 0 0 30.00 30.00 15.91

498.12 3205 -146.63 -0.98 0.00 3950.9 3958.2 3943.5 1307.2 3491.8 66.50 -15.83 93 506.68 0.00 0.36 3.48 0.000 0.167 0.075 3951.06 3958.62 3943.50 1365.50 2009.56 0 0 0 30.00 15.93 15.96

693.92 388 -146.63 -0.94 80.00 3952.5 3961.4 3943.7 1365.2 2009.2 89.25 -11.20 113 702.81 0.00 0.00 3.70 0.000 0.000 0.129 3952.19 3960.81 3943.56 1365.50 3490.81 0 0 0 30.00 30.00 16.01

811.68 1156 -146.63 -0.87 0.00 3952.5 3961.4 3943.6 1365.6 3491.8 104.12 -12.84 136 820.30 0.00 0.00 3.48 0.000 0.000 0.076 3952.31 3961.56 3943.06 1365.56 2009.06 0 0 0 30.00 30.00 16.04

1006.09 2437 -146.63 -0.84 80.00 3953.2 3962.4 3944.0 1365.7 2009.4 124.88 -10.45 156 1018.22 0.00 0.22 3.67 0.000 0.165 0.132 3953.22 3962.88 3943.56 1399.81 3490.00 0 0 0 30.00 16.03 16.05

1091.15 1028 -146.63 -0.84 0.00 3953.4 3963.4 3943.4 1400.2 3490.0 134.63 -10.54 173 1099.39 0.00 0.00 3.49 0.000 0.000 0.077 3953.12 3963.12 3943.12 1400.38 2009.44 0 0 0 30.00 30.00 16.07

1257 end dive: TARGET_DEPTH_EXCEEDED

state 1257 begin apogee

1258.69 10243 0.00 -0.36 0.00 3953.6 3963.3 3943.9 1399.9 2041.4 150.55 -9.62 190 1388.76 116.64 0.74 0.07 1.322 0.127 0.298 3349.19 3388.38 3310.00 1517.44 2010.94 0 0 0 12.06 16.09 15.63

1390 end apogee: CONTROL_FINISHED_OK

state 1390 begin climb

1390.37 10759 146.63 1.44 -80.00 3348.4 3387.1 3309.8 1517.6 2010.9 157.09 0.00 202 1541.04 123.81 2.79 4.07 1.286 0.102 0.181 2750.09 2799.94 2700.25 1952.25 562.31 0 0 0 11.87 15.68 15.40

1651.07 9382 174.85 1.51 0.00 2745.7 2790.6 2700.7 1952.1 562.3 141.26 8.69 248 1687.35 25.40 0.00 3.57 1.220 0.000 0.072 2634.78 2684.19 2585.38 1951.88 2039.31 0 0 0 11.89 30.00 15.70

1871.27 10663 225.44 1.67 80.00 2632.2 2682.7 2581.6 1951.8 2039.1 124.23 7.66 273 1931.90 42.28 0.31 3.75 1.251 0.061 0.142 2432.00 2491.25 2372.75 2026.25 3488.69 0 0 0 11.91 15.83 15.61

1945.04 5253 225.44 1.50 0.00 2427.9 2487.9 2367.9 2025.9 3489.0 116.65 11.33 286 1958.34 0.00 0.49 3.62 0.000 0.156 0.077 2427.44 2487.75 2367.12 1956.75 2009.69 0 0 0 30.00 15.63 15.63

2142.59 10663 276.19 1.68 80.00 2424.6 2485.7 2363.6 1956.7 2010.8 100.79 7.65 307 2200.26 42.21 0.33 3.84 1.231 0.059 0.139 2222.81 2287.44 2158.19 2025.81 3489.88 0 0 0 11.98 15.74 15.58

2302.64 1156 276.19 1.74 0.00 2219.0 2284.1 2153.9 2026.1 3490.5 83.36 11.35 336 2311.00 0.00 0.00 3.60 0.000 0.000 0.077 2220.47 2286.56 2154.38 2026.38 2009.56 0 0 0 30.00 30.00 15.72

2498.43 388 276.19 1.82 80.00 2217.4 2283.0 2151.8 2025.4 2009.2 63.32 10.13 356 2507.52 0.00 0.00 3.77 0.000 0.000 0.137 2215.56 2281.12 2150.00 2023.69 3489.81 0 0 0 30.00 30.00 15.82

2540.66 3205 276.19 1.89 0.00 2216.9 2282.2 2151.6 2025.8 3490.9 58.61 10.93 364 2549.41 0.00 0.19 3.57 0.000 0.077 0.077 2215.81 2282.19 2149.44 2067.88 2009.12 0 0 0 30.00 15.88 15.85

2731.45 388 276.19 1.94 80.00 2216.7 2282.4 2151.0 2072.2 2009.1 36.34 11.81 395 2740.34 0.00 0.00 3.75 0.000 0.000 0.138 2215.88 2280.62 2151.12 2072.12 3489.19 0 0 0 30.00 30.00 15.90

2769.24 1156 276.19 1.97 0.00 2216.4 2281.6 2151.2 2073.1 3489.3 31.70 12.42 402 2777.91 0.00 0.00 3.54 0.000 0.000 0.078 2215.12 2279.75 2150.50 2072.50 2010.88 0 0 0 30.00 30.00 15.92

2961.24 8614 288.03 2.05 80.00 2215.7 2280.7 2150.8 2073.0 2011.0 11.58 9.45 439 2985.23 11.44 0.00 3.74 1.078 0.000 0.138 2173.97 2238.44 2109.50 2072.06 3489.00 0 0 0 11.99 30.00 15.90

3029.23 11431 318.84 2.15 0.00 2173.8 2238.4 2109.1 2073.1 3489.4 5.81 8.57 452 3070.11 28.67 0.30 3.55 1.155 0.062 0.075 2048.75 2116.31 1981.19 2139.75 2006.50 0 0 0 12.01 15.95 15.92

3229 end climb: NO_VERTICAL_VELOCITY

state 3229 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	42	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	2.6592515	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	17.902061	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	270623,121700,4736.416,-12256.390,1,0.9,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,122020,4736.421,-12256.386,2,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	201.6,1014,-17.6,-10.000,-21.21,2209,0.149
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	CACST,8,0,20230627130810.306336,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,16.5,8.90,-100,-5.90,-01,0.10,67,10000,5000,0,1,00,00*7E	_24V_AH	14.85,19.332
MODEM_MSG	CACST,8,0,20230627122500.387634,18,15925,42,0298,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,0.6,8.65,-100,-5.65,-01,-0.27,75,925,0025,0,1,00,00*33	_10V_AH	14.91,0.000
NAV	1687870741,84.9,start	FG_AHR_24Vo	18.151
NET_PING	1687871263,29,460.693481,12.100000,-0.611817	FG_AHR_10Vo	2.710
FREEZE	5.29,14.409,-1.512,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3569.66,309.15,1.148,0,500.7,527.6,473.8,698.94	MEM2	945332,32,101116,74
SM_GC	2.24,0.00,12.26,0.06,0.000,0.055,0.191,497.6,524.1,471.2,186.2,2042.5,0,0,0,30.00,15.55,15.54	DATA_FILE_SIZE	12929,491
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	202304,0
IRIDIUM_FIX	4736.87,-12256.21,270623,111412	SDSIZE	3887104,3859200
TCM_TEMP	-86.27	SDFILEDIR	383,43
SC_FREEKB	3865344	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	0,1687867200,47.60500,-122.95000,0.394,576.5	CURRENT	0.022, 15.7,1
RAFOS_FIX	4736.794434,-12257.012695,270623,121200,3,255,3.73	IMPLIED_C_PITCH	1762,12.87,228,0.0,0.00
HUMID	52.34	IMPLIED_C_VBD	3299,27.704844,228,0
TEMP	11.27	GPS	270623,132243,4736.173,-12256.748,1,1.9,4,15.4
INTERNAL_PRESSURE	7.99129

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	796	1321	15638.06	nil	0	0	0.00
Pitch_motor	26	257	100.37	nil	0	0	0.00
Roll_motor	73	297	324.91	nil	0	0	0.00
Iridium	126	155	293.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.31	nil	0	0	0.00
Core	2218	5	169.33	SciCon	3235	6	310.82
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1300	0	6.21
Compass	1022	5	76.21
RAFOS	802	40	478.88
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	494.2	517.8	470.7	187.9	2010.7	0.00	0.00	0	56.42	44.74	0.00	0.00	0.005	0.000	0.000	1849.62	1870.19	1829.06	187.94	2010.06	0	0	0	15.87	30.00	30.00
56.95	18983	-146.63	-1.44	-80.00	1849.8	1870.1	1829.6	187.9	2010.4	3.50	-5.13	9	137.48	52.28	7.95	3.80	0.005	0.257	0.165	3948.84	3954.94	3942.75	1251.88	560.00	0	0	0	15.18	15.76	15.80
186.23	3205	-146.63	-1.21	0.00	3950.9	3957.6	3944.2	1252.2	559.4	21.08	-19.63	32	194.76	0.00	0.37	3.54	0.000	0.196	0.075	3950.31	3957.69	3942.94	1307.50	2035.62	0	0	0	30.00	15.82	15.85
378.46	388	-146.63	-1.11	80.00	3950.8	3958.9	3942.8	1308.1	2035.4	47.95	-13.62	70	390.03	0.00	0.00	3.67	0.000	0.000	0.136	3951.28	3958.56	3944.00	1307.56	3491.00	0	0	0	30.00	30.00	15.91
498.12	3205	-146.63	-0.98	0.00	3950.9	3958.2	3943.5	1307.2	3491.8	66.50	-15.83	93	506.68	0.00	0.36	3.48	0.000	0.167	0.075	3951.06	3958.62	3943.50	1365.50	2009.56	0	0	0	30.00	15.93	15.96
693.92	388	-146.63	-0.94	80.00	3952.5	3961.4	3943.7	1365.2	2009.2	89.25	-11.20	113	702.81	0.00	0.00	3.70	0.000	0.000	0.129	3952.19	3960.81	3943.56	1365.50	3490.81	0	0	0	30.00	30.00	16.01
811.68	1156	-146.63	-0.87	0.00	3952.5	3961.4	3943.6	1365.6	3491.8	104.12	-12.84	136	820.30	0.00	0.00	3.48	0.000	0.000	0.076	3952.31	3961.56	3943.06	1365.56	2009.06	0	0	0	30.00	30.00	16.04
1006.09	2437	-146.63	-0.84	80.00	3953.2	3962.4	3944.0	1365.7	2009.4	124.88	-10.45	156	1018.22	0.00	0.22	3.67	0.000	0.165	0.132	3953.22	3962.88	3943.56	1399.81	3490.00	0	0	0	30.00	16.03	16.05
1091.15	1028	-146.63	-0.84	0.00	3953.4	3963.4	3943.4	1400.2	3490.0	134.63	-10.54	173	1099.39	0.00	0.00	3.49	0.000	0.000	0.077	3953.12	3963.12	3943.12	1400.38	2009.44	0	0	0	30.00	30.00	16.07
1257	end dive: TARGET_DEPTH_EXCEEDED
state	1257	begin apogee
1258.69	10243	0.00	-0.36	0.00	3953.6	3963.3	3943.9	1399.9	2041.4	150.55	-9.62	190	1388.76	116.64	0.74	0.07	1.322	0.127	0.298	3349.19	3388.38	3310.00	1517.44	2010.94	0	0	0	12.06	16.09	15.63
1390	end apogee: CONTROL_FINISHED_OK
state	1390	begin climb
1390.37	10759	146.63	1.44	-80.00	3348.4	3387.1	3309.8	1517.6	2010.9	157.09	0.00	202	1541.04	123.81	2.79	4.07	1.286	0.102	0.181	2750.09	2799.94	2700.25	1952.25	562.31	0	0	0	11.87	15.68	15.40
1651.07	9382	174.85	1.51	0.00	2745.7	2790.6	2700.7	1952.1	562.3	141.26	8.69	248	1687.35	25.40	0.00	3.57	1.220	0.000	0.072	2634.78	2684.19	2585.38	1951.88	2039.31	0	0	0	11.89	30.00	15.70
1871.27	10663	225.44	1.67	80.00	2632.2	2682.7	2581.6	1951.8	2039.1	124.23	7.66	273	1931.90	42.28	0.31	3.75	1.251	0.061	0.142	2432.00	2491.25	2372.75	2026.25	3488.69	0	0	0	11.91	15.83	15.61
1945.04	5253	225.44	1.50	0.00	2427.9	2487.9	2367.9	2025.9	3489.0	116.65	11.33	286	1958.34	0.00	0.49	3.62	0.000	0.156	0.077	2427.44	2487.75	2367.12	1956.75	2009.69	0	0	0	30.00	15.63	15.63
2142.59	10663	276.19	1.68	80.00	2424.6	2485.7	2363.6	1956.7	2010.8	100.79	7.65	307	2200.26	42.21	0.33	3.84	1.231	0.059	0.139	2222.81	2287.44	2158.19	2025.81	3489.88	0	0	0	11.98	15.74	15.58
2302.64	1156	276.19	1.74	0.00	2219.0	2284.1	2153.9	2026.1	3490.5	83.36	11.35	336	2311.00	0.00	0.00	3.60	0.000	0.000	0.077	2220.47	2286.56	2154.38	2026.38	2009.56	0	0	0	30.00	30.00	15.72
2498.43	388	276.19	1.82	80.00	2217.4	2283.0	2151.8	2025.4	2009.2	63.32	10.13	356	2507.52	0.00	0.00	3.77	0.000	0.000	0.137	2215.56	2281.12	2150.00	2023.69	3489.81	0	0	0	30.00	30.00	15.82
2540.66	3205	276.19	1.89	0.00	2216.9	2282.2	2151.6	2025.8	3490.9	58.61	10.93	364	2549.41	0.00	0.19	3.57	0.000	0.077	0.077	2215.81	2282.19	2149.44	2067.88	2009.12	0	0	0	30.00	15.88	15.85
2731.45	388	276.19	1.94	80.00	2216.7	2282.4	2151.0	2072.2	2009.1	36.34	11.81	395	2740.34	0.00	0.00	3.75	0.000	0.000	0.138	2215.88	2280.62	2151.12	2072.12	3489.19	0	0	0	30.00	30.00	15.90
2769.24	1156	276.19	1.97	0.00	2216.4	2281.6	2151.2	2073.1	3489.3	31.70	12.42	402	2777.91	0.00	0.00	3.54	0.000	0.000	0.078	2215.12	2279.75	2150.50	2072.50	2010.88	0	0	0	30.00	30.00	15.92
2961.24	8614	288.03	2.05	80.00	2215.7	2280.7	2150.8	2073.0	2011.0	11.58	9.45	439	2985.23	11.44	0.00	3.74	1.078	0.000	0.138	2173.97	2238.44	2109.50	2072.06	3489.00	0	0	0	11.99	30.00	15.90
3029.23	11431	318.84	2.15	0.00	2173.8	2238.4	2109.1	2073.1	3489.4	5.81	8.57	452	3070.11	28.67	0.30	3.55	1.155	0.062	0.075	2048.75	2116.31	1981.19	2139.75	2006.50	0	0	0	12.01	15.95	15.92
3229	end climb: NO_VERTICAL_VELOCITY
state	3229	begin surface