Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 47 * 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 47 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 58 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 2.8884153 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 19.11729 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 58 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 2.8884153 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 19.11729 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 47 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 270623,172039,4736.463,-12256.579,1,0.8,3,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -62.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,172613,4736.485,-12256.558,3,0.8,6,15.4 MHEAD_RNG_PITCHd_Wd 180.9,1036,-17.6,-10.000,-21.21,2209,0.153

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:

MODEM_MSG CACST,8,1,20230627182000.427729,18,9562,33,0198,0000,216,03,03,01,03,-1,-01,-01,1,3,0,0,150,-26.0,0.52,-100,2.48,-01,0.06,40,925,0025,0,-1,00,00*14 _24V_AH 14.95,20.674

NAV 1687890528,0.1,3,stop _10V_AH 14.98,0.000

NET CACST,8,1,20230627182020.323832,18,3718,35,0206,0101,07,01,01,00,01,-1,-01,-01,1,3,302,0,150,13.6,0.54,-100,2.46,-01,0.28,67,10000,5000,0,-1,00,00*6E FG_AHR_24Vo 19.362

NET_PING 1687889112,29,285.313507,6.900000,-0.374752 FG_AHR_10Vo 2.933

FREEZE 3.88,14.306,-1.517,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3603.76,302.39,1.139,0,500.9,527.2,474.5,698.89 MEM2 945384,29,101124,74

SM_GC 1.96,0.00,12.27,0.06,0.000,0.055,0.204,497.7,523.8,471.7,189.2,2040.1,0,0,0,30.00,15.55,15.54 DATA_FILE_SIZE 12936,495

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 205172,0

IRIDIUM_FIX 4735.53,-12254.47,270623,172149 SDSIZE 3887104,3857536

TCM_TEMP -86.29 SDFILEDIR 425,48

SC_FREEKB 3863744 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 0,1687885200,47.60500,-122.95000,0.238,348.8 CURRENT 0.028,258.4,1

RAFOS_FIX 4735.678711,-12256.976562,270623,151500,3,255,-7.79 MAGCAL 1.000000,-0.002475,-0.139512,-0.019398,1.103866,-0.074506,-0.025819,-0.143522,1.096958,-108.7,-1199.4,-770.1,36,0.0353,0

HUMID 52.10 IMPLIED_C_PITCH 1767,13.14,231,0.0,0.00

TEMP 11.37 IMPLIED_C_VBD 3317,21.627966,231,0

INTERNAL_PRESSURE 7.99611 GPS 270623,182943,4736.104,-12256.862,1,1.1,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 798 1313 15684.69 nil 0 0 0.00

Pitch_motor 25 249 94.99 nil 0 0 0.00

Roll_motor 73 286 313.35 nil 0 0 0.00

Iridium 207 149 465.19 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.46 nil 0 0 0.00

Core 2288 5 175.51 SciCon 3276 6 319.82

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1410 0 6.76

Compass 1041 5 77.98

RAFOS 2372 40 1421.53

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

6.88 16386 -146.63 -1.44 0.00 494.6 518.4 470.7 186.8 2012.1 0.00 0.00 0 57.42 45.67 0.00 0.00 0.005 0.000 0.000 1861.94 1879.69 1844.19 186.12 2012.31 0 0 0 15.91 30.00 30.00

57.96 18727 -146.63 -1.44 80.00 1863.1 1881.6 1844.6 186.4 2012.3 3.12 -3.99 9 145.90 58.17 7.91 3.67 0.005 0.249 0.128 3948.88 3955.38 3942.38 1252.56 3491.38 0 0 0 15.96 15.81 15.89

344.65 3205 -146.63 -1.24 0.00 3950.6 3958.8 3942.5 1252.2 3491.6 42.82 -17.27 64 353.08 0.00 0.32 3.47 0.000 0.187 0.072 3950.41 3957.50 3943.31 1301.19 2008.75 0 0 0 30.00 15.94 15.98

535.85 388 -146.63 -1.14 80.00 3951.4 3960.1 3942.6 1301.9 2008.9 68.31 -13.09 89 548.51 0.00 0.00 3.76 0.000 0.000 0.125 3951.19 3960.25 3942.12 1301.88 3489.75 0 0 0 30.00 30.00 15.25

571.89 3205 -146.63 -0.86 0.00 3950.7 3959.4 3941.9 1301.2 3490.1 73.60 -14.85 96 585.66 0.00 0.61 3.47 0.000 0.163 0.073 3951.28 3960.06 3942.50 1394.31 2009.81 0 0 0 30.00 15.90 15.93

769.37 292 -146.63 -0.86 80.00 3952.1 3961.4 3942.9 1393.9 2009.6 94.10 -9.51 117 778.34 0.00 0.00 3.70 0.000 0.000 0.129 3951.53 3961.12 3941.94 1394.12 3489.75 0 0 0 30.00 30.00 15.95

921.44 1156 -146.63 -0.82 0.00 3952.7 3962.5 3942.9 1394.1 3490.0 110.33 -10.73 147 929.52 0.00 0.00 3.49 0.000 0.000 0.075 3952.59 3963.31 3941.88 1394.31 2007.88 0 0 0 30.00 30.00 16.00

1110.28 292 -146.63 -0.82 80.00 3952.9 3963.2 3942.6 1393.7 2008.4 128.09 -9.58 166 1119.14 0.00 0.00 3.69 0.000 0.000 0.130 3952.59 3962.19 3943.00 1394.31 3490.38 0 0 0 30.00 30.00 16.02

1208.02 1156 -146.63 -0.79 0.00 3952.7 3962.6 3942.8 1394.3 3490.4 138.65 -11.01 185 1216.78 0.00 0.00 3.47 0.000 0.000 0.076 3952.75 3962.81 3942.69 1394.12 2008.88 0 0 0 30.00 30.00 16.03

1333 end dive: TARGET_DEPTH_EXCEEDED

state 1333 begin apogee

1334.68 10243 0.00 -0.36 0.00 3952.6 3962.9 3942.2 1394.2 2042.6 150.78 -9.46 198 1464.02 115.68 0.77 0.07 1.314 0.126 0.287 3349.69 3388.31 3311.06 1516.50 2012.19 0 0 0 12.14 16.04 15.61

1465 end apogee: CONTROL_FINISHED_OK

state 1465 begin climb

1465.65 10759 146.63 1.44 -80.00 3348.7 3388.1 3309.2 1516.4 2012.4 157.34 0.00 210 1614.54 122.28 2.81 4.09 1.278 0.102 0.180 2749.47 2798.19 2700.75 1950.19 561.94 0 0 0 11.91 15.65 15.42

1657.81 9382 197.89 1.54 0.00 2746.9 2793.0 2700.9 1952.1 561.4 147.85 7.63 244 1714.97 44.68 0.00 3.61 1.238 0.000 0.072 2541.28 2596.75 2485.81 1952.25 2040.62 0 0 0 11.95 30.00 15.62

1898.89 10663 234.66 1.69 80.00 2537.2 2592.5 2481.8 1951.9 2040.8 128.30 8.30 273 1956.70 31.33 0.34 3.72 1.225 0.062 0.142 2393.19 2454.00 2332.38 2029.88 3490.12 0 0 0 11.86 15.79 15.65

2069.85 1156 234.66 1.72 0.00 2388.9 2448.4 2329.3 2029.9 3490.8 108.08 11.99 304 2078.20 0.00 0.00 3.57 0.000 0.000 0.077 2388.66 2447.75 2329.56 2030.56 2008.81 0 0 0 30.00 30.00 15.78

2265.64 388 234.66 1.78 80.00 2387.3 2447.9 2326.7 2030.0 2008.9 87.17 10.54 324 2274.74 0.00 0.00 3.77 0.000 0.000 0.136 2385.78 2446.19 2325.38 2030.00 3490.75 0 0 0 30.00 30.00 15.86

2321.33 1156 234.66 1.82 0.00 2387.2 2447.4 2327.0 2029.9 3490.4 80.57 11.93 334 2329.73 0.00 0.00 3.56 0.000 0.000 0.077 2385.69 2446.50 2324.88 2029.88 2008.75 0 0 0 30.00 30.00 15.86

2517.22 2469 236.38 1.88 80.00 2386.6 2447.3 2325.9 2029.1 2009.1 61.36 9.92 354 2526.53 0.00 0.16 3.74 0.000 0.090 0.137 2383.56 2444.31 2322.81 2071.06 3489.12 0 0 0 30.00 15.95 15.92

2565.25 1028 236.38 1.88 0.00 2386.5 2447.1 2326.0 2071.0 3489.9 55.28 13.06 363 2574.45 0.00 0.00 3.52 0.000 0.000 0.078 2384.00 2444.50 2323.50 2071.38 2009.38 0 0 0 30.00 30.00 15.94

2755.46 388 236.38 1.92 80.00 2386.1 2446.1 2326.1 2071.4 2009.0 34.43 10.85 396 2764.33 0.00 0.00 3.73 0.000 0.000 0.137 2385.66 2445.12 2326.19 2069.25 3489.62 0 0 0 30.00 30.00 15.96

2808.05 1028 236.38 1.92 0.00 2386.1 2446.3 2325.9 2071.3 3490.4 28.25 11.71 406 2816.79 0.00 0.00 3.50 0.000 0.000 0.077 2387.91 2449.00 2326.81 2071.25 2008.81 0 0 0 30.00 30.00 15.98

3000.75 8614 263.33 2.00 80.00 2385.8 2445.8 2325.7 2070.6 2009.4 9.29 8.75 444 3040.52 26.31 0.00 3.74 1.163 0.000 0.137 2274.12 2335.69 2212.56 2071.44 3490.69 0 0 0 11.96 30.00 15.88

3054.50 11431 323.19 2.14 0.00 2274.4 2336.6 2212.2 2071.1 3490.6 5.44 7.23 454 3122.79 52.10 0.29 3.53 1.160 0.062 0.075 2031.28 2101.88 1960.69 2137.12 2008.44 0 0 0 11.98 15.94 15.92

3270 end climb: NO_VERTICAL_VELOCITY

state 3270 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	47	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	58	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	2.8884153	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	19.11729	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	270623,172039,4736.463,-12256.579,1,0.8,3,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,172613,4736.485,-12256.558,3,0.8,6,15.4	MHEAD_RNG_PITCHd_Wd	180.9,1036,-17.6,-10.000,-21.21,2209,0.153
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

MODEM_MSG	CACST,8,1,20230627182000.427729,18,9562,33,0198,0000,216,03,03,01,03,-1,-01,-01,1,3,0,0,150,-26.0,0.52,-100,2.48,-01,0.06,40,925,0025,0,-1,00,00*14	_24V_AH	14.95,20.674
NAV	1687890528,0.1,3,stop	_10V_AH	14.98,0.000
NET	CACST,8,1,20230627182020.323832,18,3718,35,0206,0101,07,01,01,00,01,-1,-01,-01,1,3,302,0,150,13.6,0.54,-100,2.46,-01,0.28,67,10000,5000,0,-1,00,00*6E	FG_AHR_24Vo	19.362
NET_PING	1687889112,29,285.313507,6.900000,-0.374752	FG_AHR_10Vo	2.933
FREEZE	3.88,14.306,-1.517,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3603.76,302.39,1.139,0,500.9,527.2,474.5,698.89	MEM2	945384,29,101124,74
SM_GC	1.96,0.00,12.27,0.06,0.000,0.055,0.204,497.7,523.8,471.7,189.2,2040.1,0,0,0,30.00,15.55,15.54	DATA_FILE_SIZE	12936,495
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	205172,0
IRIDIUM_FIX	4735.53,-12254.47,270623,172149	SDSIZE	3887104,3857536
TCM_TEMP	-86.29	SDFILEDIR	425,48
SC_FREEKB	3863744	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	0,1687885200,47.60500,-122.95000,0.238,348.8	CURRENT	0.028,258.4,1
RAFOS_FIX	4735.678711,-12256.976562,270623,151500,3,255,-7.79	MAGCAL	1.000000,-0.002475,-0.139512,-0.019398,1.103866,-0.074506,-0.025819,-0.143522,1.096958,-108.7,-1199.4,-770.1,36,0.0353,0
HUMID	52.10	IMPLIED_C_PITCH	1767,13.14,231,0.0,0.00
TEMP	11.37	IMPLIED_C_VBD	3317,21.627966,231,0
INTERNAL_PRESSURE	7.99611	GPS	270623,182943,4736.104,-12256.862,1,1.1,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	798	1313	15684.69	nil	0	0	0.00
Pitch_motor	25	249	94.99	nil	0	0	0.00
Roll_motor	73	286	313.35	nil	0	0	0.00
Iridium	207	149	465.19	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.46	nil	0	0	0.00
Core	2288	5	175.51	SciCon	3276	6	319.82
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1410	0	6.76
Compass	1041	5	77.98
RAFOS	2372	40	1421.53
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
6.88	16386	-146.63	-1.44	0.00	494.6	518.4	470.7	186.8	2012.1	0.00	0.00	0	57.42	45.67	0.00	0.00	0.005	0.000	0.000	1861.94	1879.69	1844.19	186.12	2012.31	0	0	0	15.91	30.00	30.00
57.96	18727	-146.63	-1.44	80.00	1863.1	1881.6	1844.6	186.4	2012.3	3.12	-3.99	9	145.90	58.17	7.91	3.67	0.005	0.249	0.128	3948.88	3955.38	3942.38	1252.56	3491.38	0	0	0	15.96	15.81	15.89
344.65	3205	-146.63	-1.24	0.00	3950.6	3958.8	3942.5	1252.2	3491.6	42.82	-17.27	64	353.08	0.00	0.32	3.47	0.000	0.187	0.072	3950.41	3957.50	3943.31	1301.19	2008.75	0	0	0	30.00	15.94	15.98
535.85	388	-146.63	-1.14	80.00	3951.4	3960.1	3942.6	1301.9	2008.9	68.31	-13.09	89	548.51	0.00	0.00	3.76	0.000	0.000	0.125	3951.19	3960.25	3942.12	1301.88	3489.75	0	0	0	30.00	30.00	15.25
571.89	3205	-146.63	-0.86	0.00	3950.7	3959.4	3941.9	1301.2	3490.1	73.60	-14.85	96	585.66	0.00	0.61	3.47	0.000	0.163	0.073	3951.28	3960.06	3942.50	1394.31	2009.81	0	0	0	30.00	15.90	15.93
769.37	292	-146.63	-0.86	80.00	3952.1	3961.4	3942.9	1393.9	2009.6	94.10	-9.51	117	778.34	0.00	0.00	3.70	0.000	0.000	0.129	3951.53	3961.12	3941.94	1394.12	3489.75	0	0	0	30.00	30.00	15.95
921.44	1156	-146.63	-0.82	0.00	3952.7	3962.5	3942.9	1394.1	3490.0	110.33	-10.73	147	929.52	0.00	0.00	3.49	0.000	0.000	0.075	3952.59	3963.31	3941.88	1394.31	2007.88	0	0	0	30.00	30.00	16.00
1110.28	292	-146.63	-0.82	80.00	3952.9	3963.2	3942.6	1393.7	2008.4	128.09	-9.58	166	1119.14	0.00	0.00	3.69	0.000	0.000	0.130	3952.59	3962.19	3943.00	1394.31	3490.38	0	0	0	30.00	30.00	16.02
1208.02	1156	-146.63	-0.79	0.00	3952.7	3962.6	3942.8	1394.3	3490.4	138.65	-11.01	185	1216.78	0.00	0.00	3.47	0.000	0.000	0.076	3952.75	3962.81	3942.69	1394.12	2008.88	0	0	0	30.00	30.00	16.03
1333	end dive: TARGET_DEPTH_EXCEEDED
state	1333	begin apogee
1334.68	10243	0.00	-0.36	0.00	3952.6	3962.9	3942.2	1394.2	2042.6	150.78	-9.46	198	1464.02	115.68	0.77	0.07	1.314	0.126	0.287	3349.69	3388.31	3311.06	1516.50	2012.19	0	0	0	12.14	16.04	15.61
1465	end apogee: CONTROL_FINISHED_OK
state	1465	begin climb
1465.65	10759	146.63	1.44	-80.00	3348.7	3388.1	3309.2	1516.4	2012.4	157.34	0.00	210	1614.54	122.28	2.81	4.09	1.278	0.102	0.180	2749.47	2798.19	2700.75	1950.19	561.94	0	0	0	11.91	15.65	15.42
1657.81	9382	197.89	1.54	0.00	2746.9	2793.0	2700.9	1952.1	561.4	147.85	7.63	244	1714.97	44.68	0.00	3.61	1.238	0.000	0.072	2541.28	2596.75	2485.81	1952.25	2040.62	0	0	0	11.95	30.00	15.62
1898.89	10663	234.66	1.69	80.00	2537.2	2592.5	2481.8	1951.9	2040.8	128.30	8.30	273	1956.70	31.33	0.34	3.72	1.225	0.062	0.142	2393.19	2454.00	2332.38	2029.88	3490.12	0	0	0	11.86	15.79	15.65
2069.85	1156	234.66	1.72	0.00	2388.9	2448.4	2329.3	2029.9	3490.8	108.08	11.99	304	2078.20	0.00	0.00	3.57	0.000	0.000	0.077	2388.66	2447.75	2329.56	2030.56	2008.81	0	0	0	30.00	30.00	15.78
2265.64	388	234.66	1.78	80.00	2387.3	2447.9	2326.7	2030.0	2008.9	87.17	10.54	324	2274.74	0.00	0.00	3.77	0.000	0.000	0.136	2385.78	2446.19	2325.38	2030.00	3490.75	0	0	0	30.00	30.00	15.86
2321.33	1156	234.66	1.82	0.00	2387.2	2447.4	2327.0	2029.9	3490.4	80.57	11.93	334	2329.73	0.00	0.00	3.56	0.000	0.000	0.077	2385.69	2446.50	2324.88	2029.88	2008.75	0	0	0	30.00	30.00	15.86
2517.22	2469	236.38	1.88	80.00	2386.6	2447.3	2325.9	2029.1	2009.1	61.36	9.92	354	2526.53	0.00	0.16	3.74	0.000	0.090	0.137	2383.56	2444.31	2322.81	2071.06	3489.12	0	0	0	30.00	15.95	15.92
2565.25	1028	236.38	1.88	0.00	2386.5	2447.1	2326.0	2071.0	3489.9	55.28	13.06	363	2574.45	0.00	0.00	3.52	0.000	0.000	0.078	2384.00	2444.50	2323.50	2071.38	2009.38	0	0	0	30.00	30.00	15.94
2755.46	388	236.38	1.92	80.00	2386.1	2446.1	2326.1	2071.4	2009.0	34.43	10.85	396	2764.33	0.00	0.00	3.73	0.000	0.000	0.137	2385.66	2445.12	2326.19	2069.25	3489.62	0	0	0	30.00	30.00	15.96
2808.05	1028	236.38	1.92	0.00	2386.1	2446.3	2325.9	2071.3	3490.4	28.25	11.71	406	2816.79	0.00	0.00	3.50	0.000	0.000	0.077	2387.91	2449.00	2326.81	2071.25	2008.81	0	0	0	30.00	30.00	15.98
3000.75	8614	263.33	2.00	80.00	2385.8	2445.8	2325.7	2070.6	2009.4	9.29	8.75	444	3040.52	26.31	0.00	3.74	1.163	0.000	0.137	2274.12	2335.69	2212.56	2071.44	3490.69	0	0	0	11.96	30.00	15.88
3054.50	11431	323.19	2.14	0.00	2274.4	2336.6	2212.2	2071.1	3490.6	5.44	7.23	454	3122.79	52.10	0.29	3.53	1.160	0.062	0.075	2031.28	2101.88	1960.69	2137.12	2008.44	0	0	0	11.98	15.94	15.92
3270	end climb: NO_VERTICAL_VELOCITY
state	3270	begin surface