Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 44 * 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 44 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 2.7525213 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 18.392605 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 2.7525213 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 18.392605 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 44 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 270623,142032,4736.063,-12256.742,39,0.8,40,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 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 270623,142342,4736.070,-12256.758,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 10.3,925,-17.6,-10.000,-21.21,2209,0.154

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 8000307

Post-dive calculations and measurements:

NET CACST,8,0,20230627150811.268870,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,12.2,7.57,-100,-4.57,-01,0.00,69,10000,5000,0,1,00,00*78 _24V_AH 14.85,19.863

NET_PING 1687878461,29,409.194000,2.500000,-0.543404 _10V_AH 14.92,0.000

MODEM_MSG CACST,8,0,20230627142500.518914,18,8962,33,0180,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,6.8,6.49,-100,-3.49,-01,0.01,69,925,0025,0,1,00,00*28 FG_AHR_24Vo 18.637

NAV 1687877950,93.7,start FG_AHR_10Vo 2.804

FREEZE 4.66,14.197,-1.525,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3468.99,298.98,1.133,0,500.8,527.1,474.6,698.91 MEM2 945440,27,101108,74

SM_GC 2.09,0.00,12.53,0.06,0.000,0.051,0.204,497.5,522.8,472.2,189.0,2041.0,0,0,0,30.00,15.55,15.55 DATA_FILE_SIZE 12928,486

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 199155,0

IRIDIUM_FIX 4735.53,-12254.47,270623,132354 SDSIZE 3887104,3858528

TCM_TEMP -86.25 SDFILEDIR 400,45

SC_FREEKB 3864704 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 0,1687874400,47.60500,-122.95000,0.462,676.9 CURRENT 0.019,231.2,1

RAFOS_FIX 4736.397949,-12257.247070,270623,141400,3,255,11.05 MAGCAL 1.000000,0.031768,-0.121903,-0.025484,1.088573,-0.002470,0.073187,-0.203385,1.282040,-140.4,-1258.0,-890.3,36,0.0647,0

HUMID 52.30 IMPLIED_C_PITCH 1767,13.28,217,0.0,0.00

TEMP 11.37 IMPLIED_C_VBD 3293,44.236183,217,0

INTERNAL_PRESSURE 7.99224 GPS 270623,152424,4736.355,-12256.650,1,1.2,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 798 1314 15576.04 nil 0 0 0.00

Pitch_motor 26 251 98.30 nil 0 0 0.00

Roll_motor 66 278 273.65 nil 0 0 0.00

Iridium 119 147 261.97 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2186 5 167.00 SciCon 3145 6 305.57

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1234 0 5.89

Compass 1019 5 76.03

RAFOS 593 40 354.47

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

6.80 16386 -146.63 -1.44 0.00 494.5 517.0 471.9 185.5 2012.3 0.00 0.00 0 55.95 44.39 0.00 0.00 0.005 0.000 0.000 1826.84 1837.19 1816.50 185.25 2012.38 0 0 0 15.18 30.00 30.00

56.48 18727 -146.63 -1.44 80.00 1827.5 1838.0 1816.9 185.1 2012.0 3.15 -3.65 8 143.76 56.47 8.10 3.70 0.005 0.252 0.130 3949.03 3955.25 3942.81 1252.56 3490.69 0 0 0 14.88 14.69 15.77

152.49 3205 -146.63 -1.23 0.00 3950.5 3958.1 3942.9 1252.8 3490.3 11.32 -13.64 25 161.02 0.00 0.34 3.53 0.000 0.192 0.072 3950.31 3957.38 3943.25 1304.50 2009.56 0 0 0 30.00 15.76 15.80

344.80 2693 -146.63 -1.12 -80.00 3950.8 3958.4 3943.2 1304.0 2009.9 38.98 -13.20 63 353.84 0.00 0.16 3.87 0.000 0.184 0.166 3950.53 3959.12 3941.94 1330.38 561.19 0 0 0 30.00 15.89 15.88

582.78 3205 -146.63 -1.00 0.00 3951.4 3959.7 3943.1 1330.4 560.9 73.59 -15.12 110 591.72 0.00 0.18 3.53 0.000 0.181 0.074 3950.41 3958.50 3942.31 1359.69 2033.75 0 0 0 30.00 15.96 15.98

777.74 388 -146.63 -0.96 80.00 3952.5 3961.6 3943.4 1359.4 2034.2 96.25 -11.37 130 786.55 0.00 0.00 3.62 0.000 0.000 0.132 3951.97 3960.88 3943.06 1359.44 3491.00 0 0 0 30.00 30.00 16.02

881.86 1156 -146.63 -1.03 0.00 3952.5 3962.4 3942.6 1359.5 3490.9 109.43 -13.15 149 895.03 0.00 0.00 3.54 0.000 0.000 0.075 3952.41 3961.25 3943.56 1359.69 2010.12 0 0 0 30.00 30.00 15.89

1081.88 388 -146.63 -0.99 80.00 3953.2 3963.3 3943.2 1359.4 2010.6 132.36 -11.14 170 1090.97 0.00 0.00 3.72 0.000 0.000 0.133 3952.59 3962.56 3942.62 1359.50 3492.00 0 0 0 30.00 30.00 15.93

1202.67 1156 -146.63 -0.93 0.00 3952.9 3962.8 3943.0 1359.6 3491.5 147.79 -12.78 192 1211.05 0.00 0.00 3.53 0.000 0.000 0.077 3953.06 3962.81 3943.31 1359.25 2007.19 0 0 0 30.00 30.00 15.96

1228 end dive: TARGET_DEPTH_EXCEEDED

state 1228 begin apogee

1230.07 10243 0.00 -0.36 0.00 3953.6 3963.5 3943.6 1359.9 2042.4 150.72 -12.20 195 1360.49 114.42 1.02 0.08 1.314 0.135 0.279 3349.47 3387.56 3311.38 1516.44 2009.81 0 0 0 12.19 15.95 15.55

1362 end apogee: CONTROL_FINISHED_OK

state 1362 begin climb

1362.12 10759 146.63 1.44 -80.00 3348.8 3387.1 3310.6 1516.8 2009.6 157.19 0.00 207 1512.11 121.85 2.83 4.06 1.280 0.103 0.180 2751.03 2798.69 2703.38 1953.38 562.19 0 0 0 11.85 15.60 15.40

1536.12 9382 186.57 1.53 0.00 2748.2 2794.8 2701.6 1953.1 562.0 147.95 8.15 237 1583.40 34.95 0.00 3.63 1.228 0.000 0.072 2586.47 2637.75 2535.19 1953.25 2042.81 0 0 0 11.66 30.00 15.57

1766.33 10663 230.76 1.68 80.00 2583.6 2634.9 2532.2 1953.0 2042.6 129.78 7.95 264 1817.72 37.41 0.31 3.72 1.237 0.063 0.141 2407.19 2465.88 2348.50 2025.38 3490.81 0 0 0 11.89 15.79 15.62

1911.65 1156 230.76 1.71 0.00 2405.1 2465.2 2345.0 2025.2 3490.4 113.09 12.03 292 1920.57 0.00 0.00 3.58 0.000 0.000 0.077 2403.66 2465.12 2342.19 2025.38 2011.06 0 0 0 30.00 30.00 15.76

2108.48 388 230.76 1.77 80.00 2403.5 2464.9 2342.0 2025.5 2011.1 93.72 10.22 311 2120.21 0.00 0.00 3.75 0.000 0.000 0.135 2402.59 2463.00 2342.19 2025.69 3490.31 0 0 0 30.00 30.00 15.86

2143.36 1156 230.76 1.81 0.00 2403.2 2464.1 2342.3 2025.8 3490.2 88.51 11.42 318 2151.72 0.00 0.00 3.56 0.000 0.000 0.077 2401.97 2462.62 2341.31 2025.94 2007.62 0 0 0 30.00 30.00 15.88

2339.23 10663 241.06 1.88 80.00 2402.2 2463.8 2340.6 2025.7 2007.9 68.72 9.52 338 2363.08 11.01 0.19 3.74 1.084 0.075 0.137 2366.09 2425.31 2306.88 2073.69 3489.50 0 0 0 11.95 15.96 15.88

2411.82 1028 241.06 1.88 0.00 2365.4 2424.9 2305.8 2073.8 3488.7 59.96 12.78 352 2420.94 0.00 0.00 3.56 0.000 0.000 0.078 2364.09 2423.00 2305.19 2071.75 2008.25 0 0 0 30.00 30.00 15.91

2603.18 388 241.06 1.92 80.00 2364.5 2424.9 2304.0 2073.1 2008.4 38.42 11.61 381 2615.29 0.00 0.00 3.73 0.000 0.000 0.135 2365.06 2425.25 2304.88 2073.50 3489.81 0 0 0 30.00 30.00 15.91

2669.01 1028 241.06 1.92 0.00 2363.9 2423.4 2304.4 2073.0 3490.0 29.86 11.80 394 2677.86 0.00 0.00 3.53 0.000 0.000 0.077 2362.69 2423.50 2301.88 2074.00 2008.25 0 0 0 30.00 30.00 15.96

2861.80 8354 256.23 1.98 0.00 2363.0 2423.3 2302.8 2073.5 2009.1 10.83 9.30 432 2882.30 15.49 0.00 0.00 1.121 0.000 0.000 2303.72 2364.00 2243.44 2073.62 2009.44 0 0 0 12.08 30.00 30.00

3066.92 10663 456.05 2.35 80.00 2301.7 2363.5 2239.9 2072.8 2009.1 4.90 0.75 473 3137.92 63.03 0.59 0.00 1.177 0.051 0.000 2011.56 2080.31 1942.81 2188.12 2009.62 0 0 0 12.08 15.99 30.00

3139 end climb: NO_VERTICAL_VELOCITY

state 3139 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	44	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	2.7525213	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	18.392605	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	270623,142032,4736.063,-12256.742,39,0.8,40,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	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	270623,142342,4736.070,-12256.758,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	10.3,925,-17.6,-10.000,-21.21,2209,0.154
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	8000307

NET	CACST,8,0,20230627150811.268870,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,12.2,7.57,-100,-4.57,-01,0.00,69,10000,5000,0,1,00,00*78	_24V_AH	14.85,19.863
NET_PING	1687878461,29,409.194000,2.500000,-0.543404	_10V_AH	14.92,0.000
MODEM_MSG	CACST,8,0,20230627142500.518914,18,8962,33,0180,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,6.8,6.49,-100,-3.49,-01,0.01,69,925,0025,0,1,00,00*28	FG_AHR_24Vo	18.637
NAV	1687877950,93.7,start	FG_AHR_10Vo	2.804
FREEZE	4.66,14.197,-1.525,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3468.99,298.98,1.133,0,500.8,527.1,474.6,698.91	MEM2	945440,27,101108,74
SM_GC	2.09,0.00,12.53,0.06,0.000,0.051,0.204,497.5,522.8,472.2,189.0,2041.0,0,0,0,30.00,15.55,15.55	DATA_FILE_SIZE	12928,486
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	199155,0
IRIDIUM_FIX	4735.53,-12254.47,270623,132354	SDSIZE	3887104,3858528
TCM_TEMP	-86.25	SDFILEDIR	400,45
SC_FREEKB	3864704	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	0,1687874400,47.60500,-122.95000,0.462,676.9	CURRENT	0.019,231.2,1
RAFOS_FIX	4736.397949,-12257.247070,270623,141400,3,255,11.05	MAGCAL	1.000000,0.031768,-0.121903,-0.025484,1.088573,-0.002470,0.073187,-0.203385,1.282040,-140.4,-1258.0,-890.3,36,0.0647,0
HUMID	52.30	IMPLIED_C_PITCH	1767,13.28,217,0.0,0.00
TEMP	11.37	IMPLIED_C_VBD	3293,44.236183,217,0
INTERNAL_PRESSURE	7.99224	GPS	270623,152424,4736.355,-12256.650,1,1.2,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	798	1314	15576.04	nil	0	0	0.00
Pitch_motor	26	251	98.30	nil	0	0	0.00
Roll_motor	66	278	273.65	nil	0	0	0.00
Iridium	119	147	261.97	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2186	5	167.00	SciCon	3145	6	305.57
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1234	0	5.89
Compass	1019	5	76.03
RAFOS	593	40	354.47
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
6.80	16386	-146.63	-1.44	0.00	494.5	517.0	471.9	185.5	2012.3	0.00	0.00	0	55.95	44.39	0.00	0.00	0.005	0.000	0.000	1826.84	1837.19	1816.50	185.25	2012.38	0	0	0	15.18	30.00	30.00
56.48	18727	-146.63	-1.44	80.00	1827.5	1838.0	1816.9	185.1	2012.0	3.15	-3.65	8	143.76	56.47	8.10	3.70	0.005	0.252	0.130	3949.03	3955.25	3942.81	1252.56	3490.69	0	0	0	14.88	14.69	15.77
152.49	3205	-146.63	-1.23	0.00	3950.5	3958.1	3942.9	1252.8	3490.3	11.32	-13.64	25	161.02	0.00	0.34	3.53	0.000	0.192	0.072	3950.31	3957.38	3943.25	1304.50	2009.56	0	0	0	30.00	15.76	15.80
344.80	2693	-146.63	-1.12	-80.00	3950.8	3958.4	3943.2	1304.0	2009.9	38.98	-13.20	63	353.84	0.00	0.16	3.87	0.000	0.184	0.166	3950.53	3959.12	3941.94	1330.38	561.19	0	0	0	30.00	15.89	15.88
582.78	3205	-146.63	-1.00	0.00	3951.4	3959.7	3943.1	1330.4	560.9	73.59	-15.12	110	591.72	0.00	0.18	3.53	0.000	0.181	0.074	3950.41	3958.50	3942.31	1359.69	2033.75	0	0	0	30.00	15.96	15.98
777.74	388	-146.63	-0.96	80.00	3952.5	3961.6	3943.4	1359.4	2034.2	96.25	-11.37	130	786.55	0.00	0.00	3.62	0.000	0.000	0.132	3951.97	3960.88	3943.06	1359.44	3491.00	0	0	0	30.00	30.00	16.02
881.86	1156	-146.63	-1.03	0.00	3952.5	3962.4	3942.6	1359.5	3490.9	109.43	-13.15	149	895.03	0.00	0.00	3.54	0.000	0.000	0.075	3952.41	3961.25	3943.56	1359.69	2010.12	0	0	0	30.00	30.00	15.89
1081.88	388	-146.63	-0.99	80.00	3953.2	3963.3	3943.2	1359.4	2010.6	132.36	-11.14	170	1090.97	0.00	0.00	3.72	0.000	0.000	0.133	3952.59	3962.56	3942.62	1359.50	3492.00	0	0	0	30.00	30.00	15.93
1202.67	1156	-146.63	-0.93	0.00	3952.9	3962.8	3943.0	1359.6	3491.5	147.79	-12.78	192	1211.05	0.00	0.00	3.53	0.000	0.000	0.077	3953.06	3962.81	3943.31	1359.25	2007.19	0	0	0	30.00	30.00	15.96
1228	end dive: TARGET_DEPTH_EXCEEDED
state	1228	begin apogee
1230.07	10243	0.00	-0.36	0.00	3953.6	3963.5	3943.6	1359.9	2042.4	150.72	-12.20	195	1360.49	114.42	1.02	0.08	1.314	0.135	0.279	3349.47	3387.56	3311.38	1516.44	2009.81	0	0	0	12.19	15.95	15.55
1362	end apogee: CONTROL_FINISHED_OK
state	1362	begin climb
1362.12	10759	146.63	1.44	-80.00	3348.8	3387.1	3310.6	1516.8	2009.6	157.19	0.00	207	1512.11	121.85	2.83	4.06	1.280	0.103	0.180	2751.03	2798.69	2703.38	1953.38	562.19	0	0	0	11.85	15.60	15.40
1536.12	9382	186.57	1.53	0.00	2748.2	2794.8	2701.6	1953.1	562.0	147.95	8.15	237	1583.40	34.95	0.00	3.63	1.228	0.000	0.072	2586.47	2637.75	2535.19	1953.25	2042.81	0	0	0	11.66	30.00	15.57
1766.33	10663	230.76	1.68	80.00	2583.6	2634.9	2532.2	1953.0	2042.6	129.78	7.95	264	1817.72	37.41	0.31	3.72	1.237	0.063	0.141	2407.19	2465.88	2348.50	2025.38	3490.81	0	0	0	11.89	15.79	15.62
1911.65	1156	230.76	1.71	0.00	2405.1	2465.2	2345.0	2025.2	3490.4	113.09	12.03	292	1920.57	0.00	0.00	3.58	0.000	0.000	0.077	2403.66	2465.12	2342.19	2025.38	2011.06	0	0	0	30.00	30.00	15.76
2108.48	388	230.76	1.77	80.00	2403.5	2464.9	2342.0	2025.5	2011.1	93.72	10.22	311	2120.21	0.00	0.00	3.75	0.000	0.000	0.135	2402.59	2463.00	2342.19	2025.69	3490.31	0	0	0	30.00	30.00	15.86
2143.36	1156	230.76	1.81	0.00	2403.2	2464.1	2342.3	2025.8	3490.2	88.51	11.42	318	2151.72	0.00	0.00	3.56	0.000	0.000	0.077	2401.97	2462.62	2341.31	2025.94	2007.62	0	0	0	30.00	30.00	15.88
2339.23	10663	241.06	1.88	80.00	2402.2	2463.8	2340.6	2025.7	2007.9	68.72	9.52	338	2363.08	11.01	0.19	3.74	1.084	0.075	0.137	2366.09	2425.31	2306.88	2073.69	3489.50	0	0	0	11.95	15.96	15.88
2411.82	1028	241.06	1.88	0.00	2365.4	2424.9	2305.8	2073.8	3488.7	59.96	12.78	352	2420.94	0.00	0.00	3.56	0.000	0.000	0.078	2364.09	2423.00	2305.19	2071.75	2008.25	0	0	0	30.00	30.00	15.91
2603.18	388	241.06	1.92	80.00	2364.5	2424.9	2304.0	2073.1	2008.4	38.42	11.61	381	2615.29	0.00	0.00	3.73	0.000	0.000	0.135	2365.06	2425.25	2304.88	2073.50	3489.81	0	0	0	30.00	30.00	15.91
2669.01	1028	241.06	1.92	0.00	2363.9	2423.4	2304.4	2073.0	3490.0	29.86	11.80	394	2677.86	0.00	0.00	3.53	0.000	0.000	0.077	2362.69	2423.50	2301.88	2074.00	2008.25	0	0	0	30.00	30.00	15.96
2861.80	8354	256.23	1.98	0.00	2363.0	2423.3	2302.8	2073.5	2009.1	10.83	9.30	432	2882.30	15.49	0.00	0.00	1.121	0.000	0.000	2303.72	2364.00	2243.44	2073.62	2009.44	0	0	0	12.08	30.00	30.00
3066.92	10663	456.05	2.35	80.00	2301.7	2363.5	2239.9	2072.8	2009.1	4.90	0.75	473	3137.92	63.03	0.59	0.00	1.177	0.051	0.000	2011.56	2080.31	1942.81	2188.12	2009.62	0	0	0	12.08	15.99	30.00
3139	end climb: NO_VERTICAL_VELOCITY
state	3139	begin surface