Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 49 * 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 49 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 2.9728661 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 19.602175 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 2.9728661 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 19.602175 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 49 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 270623,192840,4735.898,-12256.939,3,0.9,25,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,193152,4735.904,-12256.927,2,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 18.2,1291,-17.6,-10.000,-21.21,2209,0.162

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,8,0,20230627202007.820567,18,32767,45,0106,0113,07,00,00,00,00,1,028,252,0,5,1,0,150,15.9,3.38,-100,-0.38,-01,-0.24,72,10000,5000,0,-1,00,00*7E _24V_AH 14.88,21.190

MODEM_MSG CACST,8,1,20230627193200.921563,18,2007,20,0121,0000,246,04,04,02,05,-1,-01,-01,2,3,1,0,150,-1.6,2.56,-100,0.44,-01,-0.04,58,925,0025,0,-1,00,00*02 _10V_AH 14.91,0.000

NAV 1687895953,151.5,start FG_AHR_24Vo 19.844

WARN PPS timeout FG_AHR_10Vo 3.022

NET_PING 1687897209,28,328.632019,15.900000,-0.436317 MEM0 59804,1,0,0

FREEZE 4.19,15.396,-1.469,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 945404,27,101144,74

SM_CCo 3473.14,261.36,1.128,0,500.7,527.3,474.1,698.94 DATA_FILE_SIZE 12936,486

SM_GC 1.85,0.00,12.26,3.60,0.000,0.050,0.075,497.1,523.8,470.5,186.9,2009.8,0,0,0,30.00,15.56,15.54 CAP_FILE_SIZE 194293,0

SUPER 27,71,254,1,0,0 SDSIZE 3887104,3856896

IRIDIUM_FIX 4736.87,-12256.21,270623,183054 SDFILEDIR 442,50

TCM_TEMP -86.33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3863104 SOUNDSPEED 1465.0

RAFOS_CLK 0 CURRENT 0.008,221.6,1

MODEM 0,1687892400,47.60500,-122.95000,0.559,818.5 MAGCAL 1.000000,0.032244,-0.040988,-0.015577,1.070149,-0.007059,-0.041962,-0.226993,1.013278,-197.2,-1239.8,-733.0,34,0.0455,0

RAFOS_FIX 4736.362793,-12257.000000,270623,191900,3,255,106.75 IMPLIED_C_PITCH 1765,13.16,224,0.0,0.00

HUMID 52.17 IMPLIED_C_VBD 3318,48.198669,223,0

TEMP 11.27 GPS 270623,203301,4736.215,-12256.737,3,1.7,8,15.4

INTERNAL_PRESSURE 7.99434

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 791 1319 15543.73 nil 0 0 0.00

Pitch_motor 25 257 97.93 nil 0 0 0.00

Roll_motor 73 272 298.26 nil 0 0 0.00

Iridium 120 143 256.63 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 2217 5 169.31 SciCon 3190 8 384.12

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1249 0 5.96

Compass 1019 5 76.01

RAFOS 644 40 384.19

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

6.81 16386 -146.63 -1.44 0.00 495.6 515.9 475.2 185.6 2010.0 0.00 0.00 0 56.31 44.72 0.00 0.00 0.005 0.000 0.000 1853.09 1847.69 1858.50 185.62 2009.56 0 0 0 15.88 30.00 30.00

56.85 18983 -146.63 -1.44 -80.00 1853.2 1847.8 1858.7 185.3 2009.9 3.31 -4.63 9 144.88 58.26 8.00 3.77 0.005 0.258 0.162 3948.97 3954.50 3943.44 1253.50 558.69 0 0 0 15.90 15.76 15.83

148.61 3205 -146.63 -1.24 0.00 3949.2 3954.9 3943.5 1253.9 558.8 9.68 -11.85 25 157.23 0.00 0.32 3.52 0.000 0.198 0.070 3949.03 3955.00 3943.06 1301.75 2037.06 0 0 0 30.00 15.82 15.86

341.43 2693 -146.63 -1.12 -80.00 3950.6 3957.7 3943.4 1301.9 2037.1 35.62 -12.96 62 350.70 0.00 0.18 3.91 0.000 0.182 0.161 3950.34 3957.25 3943.44 1331.06 559.12 0 0 0 30.00 15.92 15.91

559.61 3205 -146.63 -1.00 0.00 3951.0 3958.4 3943.6 1331.3 558.8 67.32 -15.11 105 568.52 0.00 0.19 3.50 0.000 0.183 0.073 3951.53 3959.06 3944.00 1360.75 2034.44 0 0 0 30.00 15.98 16.00

749.36 388 -146.63 -0.95 80.00 3951.8 3959.9 3943.8 1360.9 2035.0 89.26 -11.32 124 758.14 0.00 0.00 3.62 0.000 0.000 0.134 3952.12 3959.75 3944.50 1360.75 3491.75 0 0 0 30.00 30.00 16.01

857.00 3205 -146.63 -0.88 0.00 3951.7 3959.8 3943.6 1360.9 3492.0 103.07 -13.02 145 866.00 0.00 0.17 3.51 0.000 0.179 0.075 3952.72 3961.19 3944.25 1387.88 2008.56 0 0 0 30.00 16.00 16.03

1051.94 292 -146.63 -0.88 80.00 3952.6 3961.2 3944.1 1388.2 2009.2 122.85 -9.98 165 1060.82 0.00 0.00 3.68 0.000 0.000 0.131 3952.97 3962.38 3943.56 1388.31 3490.06 0 0 0 30.00 30.00 16.05

1143.07 1156 -146.63 -0.85 0.00 3953.0 3962.0 3943.9 1388.2 3490.8 132.95 -11.30 182 1151.69 0.00 0.00 3.49 0.000 0.000 0.076 3952.56 3961.69 3943.44 1387.94 2008.06 0 0 0 30.00 30.00 16.08

1318 end dive: TARGET_DEPTH_EXCEEDED

state 1318 begin apogee

1319.66 10243 0.00 -0.36 0.00 3953.2 3962.7 3943.8 1387.7 2042.3 150.43 -9.92 200 1448.98 113.59 0.81 0.08 1.319 0.127 0.273 3349.06 3386.94 3311.19 1517.38 2009.62 0 0 0 11.90 16.08 15.67

1458 end apogee: CONTROL_FINISHED_OK

state 1458 begin climb

1458.64 10759 146.63 1.44 -80.00 3348.0 3385.0 3311.0 1517.3 2010.2 157.36 0.00 212 1606.20 121.71 2.80 3.98 1.286 0.101 0.181 2749.91 2797.12 2702.69 1953.25 560.69 0 0 0 11.89 15.70 15.43

1683.52 9382 175.89 1.51 0.00 2747.4 2791.4 2703.5 1953.2 560.5 145.27 8.64 251 1722.28 26.30 0.00 3.58 1.217 0.000 0.073 2631.50 2679.88 2583.12 1953.38 2041.94 0 0 0 11.69 30.00 15.66

1906.20 10663 232.54 1.67 80.00 2627.8 2676.6 2579.0 1953.2 2041.9 128.04 7.38 277 1974.02 47.56 0.31 3.73 1.250 0.062 0.142 2399.50 2458.69 2340.31 2027.62 3488.38 0 0 0 11.89 15.79 15.61

1995.64 3205 232.54 1.87 0.00 2398.8 2458.9 2338.8 2026.6 3488.5 118.50 11.70 292 2008.52 0.00 0.15 3.61 0.000 0.083 0.076 2397.84 2458.00 2337.69 2071.06 2010.25 0 0 0 30.00 15.63 15.61

2192.15 260 232.54 1.87 80.00 2396.1 2457.4 2334.8 2071.2 2010.4 93.90 12.12 313 2201.42 0.00 0.00 3.79 0.000 0.000 0.136 2393.19 2454.62 2331.75 2071.81 3492.75 0 0 0 30.00 30.00 15.72

2290.16 1028 232.54 1.87 0.00 2395.5 2455.9 2335.1 2071.6 3492.4 80.56 14.21 332 2299.25 0.00 0.00 3.57 0.000 0.000 0.076 2393.50 2453.50 2333.50 2071.62 2009.31 0 0 0 30.00 30.00 15.80

2485.17 260 232.54 1.87 80.00 2394.4 2455.1 2333.7 2072.0 2009.1 57.43 11.47 352 2494.45 0.00 0.00 3.74 0.000 0.000 0.135 2392.34 2454.25 2330.44 2072.31 3489.19 0 0 0 30.00 30.00 15.87

2568.17 1028 232.54 1.87 0.00 2394.2 2455.1 2333.4 2072.1 3488.9 46.73 13.20 368 2577.03 0.00 0.00 3.54 0.000 0.000 0.078 2392.09 2452.44 2331.75 2072.88 2009.81 0 0 0 30.00 30.00 15.90

2760.87 16774 232.54 1.90 80.00 2393.2 2453.9 2332.4 2072.2 2010.2 25.46 10.41 406 2769.84 0.00 0.00 3.73 0.000 0.000 0.136 2391.38 2451.75 2331.00 2071.94 3489.31 0 0 0 30.00 30.00 15.93

2843.58 17414 232.54 1.90 0.00 2393.2 2453.8 2332.5 2072.4 3488.6 15.94 11.57 422 2852.41 0.00 0.00 3.53 0.000 0.000 0.077 2391.62 2452.31 2330.94 2072.62 2008.50 0 0 0 30.00 30.00 15.96

3035.23 10663 374.34 2.17 80.00 2392.4 2453.7 2331.2 2072.1 2008.4 4.24 3.43 459 3175.49 118.29 0.33 3.83 1.177 0.062 0.134 1822.62 1900.44 1744.81 2145.00 3489.38 0 0 0 12.04 16.00 15.59

3184 end climb: NO_VERTICAL_VELOCITY

state 3184 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	49	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	2.9728661	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	19.602175	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	270623,192840,4735.898,-12256.939,3,0.9,25,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,193152,4735.904,-12256.927,2,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	18.2,1291,-17.6,-10.000,-21.21,2209,0.162
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,8,0,20230627202007.820567,18,32767,45,0106,0113,07,00,00,00,00,1,028,252,0,5,1,0,150,15.9,3.38,-100,-0.38,-01,-0.24,72,10000,5000,0,-1,00,00*7E	_24V_AH	14.88,21.190
MODEM_MSG	CACST,8,1,20230627193200.921563,18,2007,20,0121,0000,246,04,04,02,05,-1,-01,-01,2,3,1,0,150,-1.6,2.56,-100,0.44,-01,-0.04,58,925,0025,0,-1,00,00*02	_10V_AH	14.91,0.000
NAV	1687895953,151.5,start	FG_AHR_24Vo	19.844
WARN	PPS timeout	FG_AHR_10Vo	3.022
NET_PING	1687897209,28,328.632019,15.900000,-0.436317	MEM0	59804,1,0,0
FREEZE	4.19,15.396,-1.469,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	945404,27,101144,74
SM_CCo	3473.14,261.36,1.128,0,500.7,527.3,474.1,698.94	DATA_FILE_SIZE	12936,486
SM_GC	1.85,0.00,12.26,3.60,0.000,0.050,0.075,497.1,523.8,470.5,186.9,2009.8,0,0,0,30.00,15.56,15.54	CAP_FILE_SIZE	194293,0
SUPER	27,71,254,1,0,0	SDSIZE	3887104,3856896
IRIDIUM_FIX	4736.87,-12256.21,270623,183054	SDFILEDIR	442,50
TCM_TEMP	-86.33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3863104	SOUNDSPEED	1465.0
RAFOS_CLK	0	CURRENT	0.008,221.6,1
MODEM	0,1687892400,47.60500,-122.95000,0.559,818.5	MAGCAL	1.000000,0.032244,-0.040988,-0.015577,1.070149,-0.007059,-0.041962,-0.226993,1.013278,-197.2,-1239.8,-733.0,34,0.0455,0
RAFOS_FIX	4736.362793,-12257.000000,270623,191900,3,255,106.75	IMPLIED_C_PITCH	1765,13.16,224,0.0,0.00
HUMID	52.17	IMPLIED_C_VBD	3318,48.198669,223,0
TEMP	11.27	GPS	270623,203301,4736.215,-12256.737,3,1.7,8,15.4
INTERNAL_PRESSURE	7.99434

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	791	1319	15543.73	nil	0	0	0.00
Pitch_motor	25	257	97.93	nil	0	0	0.00
Roll_motor	73	272	298.26	nil	0	0	0.00
Iridium	120	143	256.63	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	2217	5	169.31	SciCon	3190	8	384.12
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1249	0	5.96
Compass	1019	5	76.01
RAFOS	644	40	384.19
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
6.81	16386	-146.63	-1.44	0.00	495.6	515.9	475.2	185.6	2010.0	0.00	0.00	0	56.31	44.72	0.00	0.00	0.005	0.000	0.000	1853.09	1847.69	1858.50	185.62	2009.56	0	0	0	15.88	30.00	30.00
56.85	18983	-146.63	-1.44	-80.00	1853.2	1847.8	1858.7	185.3	2009.9	3.31	-4.63	9	144.88	58.26	8.00	3.77	0.005	0.258	0.162	3948.97	3954.50	3943.44	1253.50	558.69	0	0	0	15.90	15.76	15.83
148.61	3205	-146.63	-1.24	0.00	3949.2	3954.9	3943.5	1253.9	558.8	9.68	-11.85	25	157.23	0.00	0.32	3.52	0.000	0.198	0.070	3949.03	3955.00	3943.06	1301.75	2037.06	0	0	0	30.00	15.82	15.86
341.43	2693	-146.63	-1.12	-80.00	3950.6	3957.7	3943.4	1301.9	2037.1	35.62	-12.96	62	350.70	0.00	0.18	3.91	0.000	0.182	0.161	3950.34	3957.25	3943.44	1331.06	559.12	0	0	0	30.00	15.92	15.91
559.61	3205	-146.63	-1.00	0.00	3951.0	3958.4	3943.6	1331.3	558.8	67.32	-15.11	105	568.52	0.00	0.19	3.50	0.000	0.183	0.073	3951.53	3959.06	3944.00	1360.75	2034.44	0	0	0	30.00	15.98	16.00
749.36	388	-146.63	-0.95	80.00	3951.8	3959.9	3943.8	1360.9	2035.0	89.26	-11.32	124	758.14	0.00	0.00	3.62	0.000	0.000	0.134	3952.12	3959.75	3944.50	1360.75	3491.75	0	0	0	30.00	30.00	16.01
857.00	3205	-146.63	-0.88	0.00	3951.7	3959.8	3943.6	1360.9	3492.0	103.07	-13.02	145	866.00	0.00	0.17	3.51	0.000	0.179	0.075	3952.72	3961.19	3944.25	1387.88	2008.56	0	0	0	30.00	16.00	16.03
1051.94	292	-146.63	-0.88	80.00	3952.6	3961.2	3944.1	1388.2	2009.2	122.85	-9.98	165	1060.82	0.00	0.00	3.68	0.000	0.000	0.131	3952.97	3962.38	3943.56	1388.31	3490.06	0	0	0	30.00	30.00	16.05
1143.07	1156	-146.63	-0.85	0.00	3953.0	3962.0	3943.9	1388.2	3490.8	132.95	-11.30	182	1151.69	0.00	0.00	3.49	0.000	0.000	0.076	3952.56	3961.69	3943.44	1387.94	2008.06	0	0	0	30.00	30.00	16.08
1318	end dive: TARGET_DEPTH_EXCEEDED
state	1318	begin apogee
1319.66	10243	0.00	-0.36	0.00	3953.2	3962.7	3943.8	1387.7	2042.3	150.43	-9.92	200	1448.98	113.59	0.81	0.08	1.319	0.127	0.273	3349.06	3386.94	3311.19	1517.38	2009.62	0	0	0	11.90	16.08	15.67
1458	end apogee: CONTROL_FINISHED_OK
state	1458	begin climb
1458.64	10759	146.63	1.44	-80.00	3348.0	3385.0	3311.0	1517.3	2010.2	157.36	0.00	212	1606.20	121.71	2.80	3.98	1.286	0.101	0.181	2749.91	2797.12	2702.69	1953.25	560.69	0	0	0	11.89	15.70	15.43
1683.52	9382	175.89	1.51	0.00	2747.4	2791.4	2703.5	1953.2	560.5	145.27	8.64	251	1722.28	26.30	0.00	3.58	1.217	0.000	0.073	2631.50	2679.88	2583.12	1953.38	2041.94	0	0	0	11.69	30.00	15.66
1906.20	10663	232.54	1.67	80.00	2627.8	2676.6	2579.0	1953.2	2041.9	128.04	7.38	277	1974.02	47.56	0.31	3.73	1.250	0.062	0.142	2399.50	2458.69	2340.31	2027.62	3488.38	0	0	0	11.89	15.79	15.61
1995.64	3205	232.54	1.87	0.00	2398.8	2458.9	2338.8	2026.6	3488.5	118.50	11.70	292	2008.52	0.00	0.15	3.61	0.000	0.083	0.076	2397.84	2458.00	2337.69	2071.06	2010.25	0	0	0	30.00	15.63	15.61
2192.15	260	232.54	1.87	80.00	2396.1	2457.4	2334.8	2071.2	2010.4	93.90	12.12	313	2201.42	0.00	0.00	3.79	0.000	0.000	0.136	2393.19	2454.62	2331.75	2071.81	3492.75	0	0	0	30.00	30.00	15.72
2290.16	1028	232.54	1.87	0.00	2395.5	2455.9	2335.1	2071.6	3492.4	80.56	14.21	332	2299.25	0.00	0.00	3.57	0.000	0.000	0.076	2393.50	2453.50	2333.50	2071.62	2009.31	0	0	0	30.00	30.00	15.80
2485.17	260	232.54	1.87	80.00	2394.4	2455.1	2333.7	2072.0	2009.1	57.43	11.47	352	2494.45	0.00	0.00	3.74	0.000	0.000	0.135	2392.34	2454.25	2330.44	2072.31	3489.19	0	0	0	30.00	30.00	15.87
2568.17	1028	232.54	1.87	0.00	2394.2	2455.1	2333.4	2072.1	3488.9	46.73	13.20	368	2577.03	0.00	0.00	3.54	0.000	0.000	0.078	2392.09	2452.44	2331.75	2072.88	2009.81	0	0	0	30.00	30.00	15.90
2760.87	16774	232.54	1.90	80.00	2393.2	2453.9	2332.4	2072.2	2010.2	25.46	10.41	406	2769.84	0.00	0.00	3.73	0.000	0.000	0.136	2391.38	2451.75	2331.00	2071.94	3489.31	0	0	0	30.00	30.00	15.93
2843.58	17414	232.54	1.90	0.00	2393.2	2453.8	2332.5	2072.4	3488.6	15.94	11.57	422	2852.41	0.00	0.00	3.53	0.000	0.000	0.077	2391.62	2452.31	2330.94	2072.62	2008.50	0	0	0	30.00	30.00	15.96
3035.23	10663	374.34	2.17	80.00	2392.4	2453.7	2331.2	2072.1	2008.4	4.24	3.43	459	3175.49	118.29	0.33	3.83	1.177	0.062	0.134	1822.62	1900.44	1744.81	2145.00	3489.38	0	0	0	12.04	16.00	15.59
3184	end climb: NO_VERTICAL_VELOCITY
state	3184	begin surface