Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 50 * 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 50 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 3.0252028 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 19.850307 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 3.0252028 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 19.850307 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 50 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 270623,203301,4736.215,-12256.737,3,1.7,8,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,203634,4736.219,-12256.720,4,1.5,7,15.4 MHEAD_RNG_PITCHd_Wd 13.4,654,-20.5,-10.000,-23.87,1659,0.135

SPEED_LIMITS 0.173,0.258 D_GRID 168

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:

MODEM_MSG CACST,8,1,20230627203200.342929,18,2333,33,0145,0000,246,02,02,00,03,-1,-01,-01,2,3,1,0,150,1.4,3.16,-100,-0.16,-01,-0.03,68,925,0025,0,-1,00,00*08 _10V_AH 14.94,0.000

NAV 1687899561,150.8,start FG_AHR_24Vo 20.093

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 3.064

FREEZE 5.59,13.203,-1.550,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3386.22,373.89,1.138,0,500.9,531.1,470.8,698.88 MEM2 945332,32,101116,74

SM_GC 1.68,0.00,11.94,0.06,0.000,0.055,0.195,498.6,527.2,470.0,185.4,2042.2,0,0,0,30.00,15.57,15.55 DATA_FILE_SIZE 12955,463

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 176321,0

IRIDIUM_FIX 4736.00,-12258.89,270623,192953 SDSIZE 3887104,3856576

TCM_TEMP -86.30 SDFILEDIR 450,51

SC_FREEKB 3862784 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 0,1687896000,47.60500,-122.95000,0.452,662.8 CURRENT 0.021, 62.9,1

RAFOS_FIX 4736.728027,-12257.000000,270623,202000,5,255,-1.45 MAGCAL 1.000000,0.030400,-0.049097,-0.007301,1.067899,-0.043434,-0.009435,-0.053480,0.988556,-191.2,-1224.9,-704.3,35,0.0305,0

HUMID 52.05 IMPLIED_C_PITCH 1745,14.00,210,0.0,0.00

TEMP 11.31 IMPLIED_C_VBD 3250,22.318642,210,0

INTERNAL_PRESSURE 7.99697 GPS 270623,213724,4736.479,-12256.519,23,6.4,63,15.4

_24V_AH 14.88,21.469

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 800 1314 15655.81 nil 0 0 0.00

Pitch_motor 25 259 97.16 nil 0 0 0.00

Roll_motor 58 290 253.62 nil 0 0 0.00

Iridium 136 168 341.93 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 16 15 3.67 nil 0 0 0.00

Core 2001 5 153.07 SciCon 2981 7 351.35

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1275 0 6.10

Compass 976 5 72.93

RAFOS 459 40 274.33

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

7.01 16386 -109.73 -1.60 0.00 494.3 518.2 470.4 185.5 2037.7 0.00 0.00 0 54.27 42.67 0.00 0.00 0.005 0.000 0.000 1790.56 1819.69 1761.44 185.44 2037.25 0 0 0 15.88 30.00 30.00

54.80 18983 -146.63 -1.65 -80.00 1790.7 1820.6 1760.9 185.3 2037.4 3.21 -4.15 8 142.69 60.58 7.68 3.82 0.005 0.259 0.162 3948.72 3954.62 3942.81 1201.88 558.38 0 0 0 15.94 15.77 15.84

166.42 3205 -146.63 -1.42 0.00 3949.9 3957.1 3942.8 1202.3 558.4 14.50 -16.43 28 174.84 0.00 0.39 3.49 0.000 0.204 0.071 3949.41 3956.50 3942.31 1256.56 2034.88 0 0 0 30.00 15.85 15.88

358.54 644 -146.63 -1.32 -80.00 3951.0 3958.5 3943.6 1257.4 2035.1 44.97 -15.32 66 367.37 0.00 0.00 3.84 0.000 0.000 0.161 3950.06 3958.06 3942.06 1256.88 559.94 0 0 0 30.00 30.00 15.93

596.60 3205 -146.63 -1.18 0.00 3951.2 3959.1 3943.4 1257.3 560.0 89.32 -18.50 111 605.68 0.00 0.40 3.49 0.000 0.186 0.074 3950.84 3958.75 3942.94 1317.38 2036.06 0 0 0 30.00 15.95 15.99

794.68 388 -146.63 -1.14 80.00 3952.3 3961.6 3942.9 1317.4 2035.8 115.80 -12.20 132 803.47 0.00 0.00 3.63 0.000 0.000 0.138 3951.53 3961.62 3941.44 1317.50 3492.88 0 0 0 30.00 30.00 16.00

916.58 1156 -146.63 -1.08 0.00 3952.6 3961.9 3943.2 1317.8 3492.8 133.64 -15.21 156 924.76 0.00 0.00 3.51 0.000 0.000 0.076 3952.53 3962.31 3942.75 1317.62 2009.44 0 0 0 30.00 30.00 16.05

1042 end dive: TARGET_DEPTH_EXCEEDED

state 1042 begin apogee

1043.94 10243 0.00 -0.36 0.00 3953.3 3963.2 3943.4 1317.3 2041.8 150.21 -12.89 169 1173.67 113.95 1.29 0.07 1.315 0.139 0.291 3351.06 3390.12 3312.00 1516.00 2008.19 0 0 0 12.01 16.06 15.64

1183 end apogee: CONTROL_FINISHED_OK

state 1183 begin climb

1183.39 10759 146.63 1.65 -80.00 3347.9 3386.9 3308.9 1515.9 2008.2 157.74 0.00 181 1331.28 121.08 3.14 3.99 1.282 0.102 0.177 2749.34 2798.75 2699.94 2004.56 561.38 0 0 0 11.89 15.69 15.42

1433.87 1156 146.63 1.68 0.00 2745.8 2791.0 2700.6 2004.1 560.9 139.80 11.52 225 1442.21 0.00 0.00 3.57 0.000 0.000 0.071 2746.00 2791.69 2700.31 2004.31 2041.31 0 0 0 30.00 30.00 15.68

1629.75 10663 161.91 1.78 80.00 2743.2 2789.6 2696.8 2004.4 2041.6 121.76 9.06 245 1654.15 13.41 0.16 3.69 1.144 0.083 0.140 2688.03 2733.94 2642.12 2052.94 3490.81 0 0 0 11.90 15.83 15.75

1686.24 1028 161.91 1.78 0.00 2688.9 2734.3 2643.4 2052.8 3490.4 115.56 11.37 255 1698.90 0.00 0.00 3.57 0.000 0.000 0.075 2689.78 2735.06 2644.50 2052.19 2009.38 0 0 0 30.00 30.00 15.78

1886.35 388 161.91 1.83 80.00 2687.0 2733.2 2640.8 2053.0 2009.5 94.48 10.31 276 1895.44 0.00 0.00 3.74 0.000 0.000 0.135 2684.75 2731.19 2638.31 2052.62 3489.88 0 0 0 30.00 30.00 15.86

1944.17 1028 161.91 1.83 0.00 2687.1 2732.9 2641.2 2052.8 3489.7 87.99 11.37 287 1953.26 0.00 0.00 3.53 0.000 0.000 0.075 2684.44 2731.06 2637.81 2052.69 2009.06 0 0 0 30.00 30.00 15.90

2139.47 8614 168.93 1.89 80.00 2686.6 2732.4 2640.7 2052.5 2009.1 69.11 9.57 307 2158.47 8.73 0.00 3.73 1.028 0.000 0.137 2658.34 2704.44 2612.25 2052.44 3491.12 0 0 0 12.09 30.00 15.90

2251.44 1028 168.93 1.89 0.00 2660.1 2706.0 2614.2 2052.9 3490.9 57.06 11.10 329 2259.97 0.00 0.00 3.52 0.000 0.000 0.076 2659.69 2706.62 2612.75 2052.75 2008.25 0 0 0 30.00 30.00 15.93

2442.52 10663 194.02 1.99 80.00 2659.0 2705.8 2612.2 2052.6 2007.8 40.01 8.45 359 2482.51 25.93 0.19 3.73 1.180 0.080 0.134 2559.41 2609.38 2509.44 2103.00 3489.00 0 0 0 12.04 15.99 15.86

2571.25 1028 194.02 1.99 0.00 2556.2 2606.2 2506.1 2102.7 3489.2 25.27 12.49 384 2584.64 0.00 0.00 3.52 0.000 0.000 0.074 2554.06 2603.06 2505.06 2102.31 2008.00 0 0 0 30.00 30.00 15.38

2768.57 8354 237.91 2.10 0.00 2554.6 2605.3 2503.8 2102.9 2008.8 6.91 7.29 422 2815.84 40.03 0.00 0.00 1.168 0.000 0.000 2378.09 2439.25 2316.94 2103.00 2008.19 0 0 0 11.96 30.00 30.00

2974 end climb: NO_VERTICAL_VELOCITY

state 2974 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	50	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	3.0252028	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	19.850307	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	270623,203301,4736.215,-12256.737,3,1.7,8,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,203634,4736.219,-12256.720,4,1.5,7,15.4	MHEAD_RNG_PITCHd_Wd	13.4,654,-20.5,-10.000,-23.87,1659,0.135
SPEED_LIMITS	0.173,0.258	D_GRID	168
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

MODEM_MSG	CACST,8,1,20230627203200.342929,18,2333,33,0145,0000,246,02,02,00,03,-1,-01,-01,2,3,1,0,150,1.4,3.16,-100,-0.16,-01,-0.03,68,925,0025,0,-1,00,00*08	_10V_AH	14.94,0.000
NAV	1687899561,150.8,start	FG_AHR_24Vo	20.093
WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	3.064
FREEZE	5.59,13.203,-1.550,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3386.22,373.89,1.138,0,500.9,531.1,470.8,698.88	MEM2	945332,32,101116,74
SM_GC	1.68,0.00,11.94,0.06,0.000,0.055,0.195,498.6,527.2,470.0,185.4,2042.2,0,0,0,30.00,15.57,15.55	DATA_FILE_SIZE	12955,463
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	176321,0
IRIDIUM_FIX	4736.00,-12258.89,270623,192953	SDSIZE	3887104,3856576
TCM_TEMP	-86.30	SDFILEDIR	450,51
SC_FREEKB	3862784	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	0,1687896000,47.60500,-122.95000,0.452,662.8	CURRENT	0.021, 62.9,1
RAFOS_FIX	4736.728027,-12257.000000,270623,202000,5,255,-1.45	MAGCAL	1.000000,0.030400,-0.049097,-0.007301,1.067899,-0.043434,-0.009435,-0.053480,0.988556,-191.2,-1224.9,-704.3,35,0.0305,0
HUMID	52.05	IMPLIED_C_PITCH	1745,14.00,210,0.0,0.00
TEMP	11.31	IMPLIED_C_VBD	3250,22.318642,210,0
INTERNAL_PRESSURE	7.99697	GPS	270623,213724,4736.479,-12256.519,23,6.4,63,15.4
_24V_AH	14.88,21.469

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	800	1314	15655.81	nil	0	0	0.00
Pitch_motor	25	259	97.16	nil	0	0	0.00
Roll_motor	58	290	253.62	nil	0	0	0.00
Iridium	136	168	341.93	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	16	15	3.67	nil	0	0	0.00
Core	2001	5	153.07	SciCon	2981	7	351.35
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1275	0	6.10
Compass	976	5	72.93
RAFOS	459	40	274.33
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
7.01	16386	-109.73	-1.60	0.00	494.3	518.2	470.4	185.5	2037.7	0.00	0.00	0	54.27	42.67	0.00	0.00	0.005	0.000	0.000	1790.56	1819.69	1761.44	185.44	2037.25	0	0	0	15.88	30.00	30.00
54.80	18983	-146.63	-1.65	-80.00	1790.7	1820.6	1760.9	185.3	2037.4	3.21	-4.15	8	142.69	60.58	7.68	3.82	0.005	0.259	0.162	3948.72	3954.62	3942.81	1201.88	558.38	0	0	0	15.94	15.77	15.84
166.42	3205	-146.63	-1.42	0.00	3949.9	3957.1	3942.8	1202.3	558.4	14.50	-16.43	28	174.84	0.00	0.39	3.49	0.000	0.204	0.071	3949.41	3956.50	3942.31	1256.56	2034.88	0	0	0	30.00	15.85	15.88
358.54	644	-146.63	-1.32	-80.00	3951.0	3958.5	3943.6	1257.4	2035.1	44.97	-15.32	66	367.37	0.00	0.00	3.84	0.000	0.000	0.161	3950.06	3958.06	3942.06	1256.88	559.94	0	0	0	30.00	30.00	15.93
596.60	3205	-146.63	-1.18	0.00	3951.2	3959.1	3943.4	1257.3	560.0	89.32	-18.50	111	605.68	0.00	0.40	3.49	0.000	0.186	0.074	3950.84	3958.75	3942.94	1317.38	2036.06	0	0	0	30.00	15.95	15.99
794.68	388	-146.63	-1.14	80.00	3952.3	3961.6	3942.9	1317.4	2035.8	115.80	-12.20	132	803.47	0.00	0.00	3.63	0.000	0.000	0.138	3951.53	3961.62	3941.44	1317.50	3492.88	0	0	0	30.00	30.00	16.00
916.58	1156	-146.63	-1.08	0.00	3952.6	3961.9	3943.2	1317.8	3492.8	133.64	-15.21	156	924.76	0.00	0.00	3.51	0.000	0.000	0.076	3952.53	3962.31	3942.75	1317.62	2009.44	0	0	0	30.00	30.00	16.05
1042	end dive: TARGET_DEPTH_EXCEEDED
state	1042	begin apogee
1043.94	10243	0.00	-0.36	0.00	3953.3	3963.2	3943.4	1317.3	2041.8	150.21	-12.89	169	1173.67	113.95	1.29	0.07	1.315	0.139	0.291	3351.06	3390.12	3312.00	1516.00	2008.19	0	0	0	12.01	16.06	15.64
1183	end apogee: CONTROL_FINISHED_OK
state	1183	begin climb
1183.39	10759	146.63	1.65	-80.00	3347.9	3386.9	3308.9	1515.9	2008.2	157.74	0.00	181	1331.28	121.08	3.14	3.99	1.282	0.102	0.177	2749.34	2798.75	2699.94	2004.56	561.38	0	0	0	11.89	15.69	15.42
1433.87	1156	146.63	1.68	0.00	2745.8	2791.0	2700.6	2004.1	560.9	139.80	11.52	225	1442.21	0.00	0.00	3.57	0.000	0.000	0.071	2746.00	2791.69	2700.31	2004.31	2041.31	0	0	0	30.00	30.00	15.68
1629.75	10663	161.91	1.78	80.00	2743.2	2789.6	2696.8	2004.4	2041.6	121.76	9.06	245	1654.15	13.41	0.16	3.69	1.144	0.083	0.140	2688.03	2733.94	2642.12	2052.94	3490.81	0	0	0	11.90	15.83	15.75
1686.24	1028	161.91	1.78	0.00	2688.9	2734.3	2643.4	2052.8	3490.4	115.56	11.37	255	1698.90	0.00	0.00	3.57	0.000	0.000	0.075	2689.78	2735.06	2644.50	2052.19	2009.38	0	0	0	30.00	30.00	15.78
1886.35	388	161.91	1.83	80.00	2687.0	2733.2	2640.8	2053.0	2009.5	94.48	10.31	276	1895.44	0.00	0.00	3.74	0.000	0.000	0.135	2684.75	2731.19	2638.31	2052.62	3489.88	0	0	0	30.00	30.00	15.86
1944.17	1028	161.91	1.83	0.00	2687.1	2732.9	2641.2	2052.8	3489.7	87.99	11.37	287	1953.26	0.00	0.00	3.53	0.000	0.000	0.075	2684.44	2731.06	2637.81	2052.69	2009.06	0	0	0	30.00	30.00	15.90
2139.47	8614	168.93	1.89	80.00	2686.6	2732.4	2640.7	2052.5	2009.1	69.11	9.57	307	2158.47	8.73	0.00	3.73	1.028	0.000	0.137	2658.34	2704.44	2612.25	2052.44	3491.12	0	0	0	12.09	30.00	15.90
2251.44	1028	168.93	1.89	0.00	2660.1	2706.0	2614.2	2052.9	3490.9	57.06	11.10	329	2259.97	0.00	0.00	3.52	0.000	0.000	0.076	2659.69	2706.62	2612.75	2052.75	2008.25	0	0	0	30.00	30.00	15.93
2442.52	10663	194.02	1.99	80.00	2659.0	2705.8	2612.2	2052.6	2007.8	40.01	8.45	359	2482.51	25.93	0.19	3.73	1.180	0.080	0.134	2559.41	2609.38	2509.44	2103.00	3489.00	0	0	0	12.04	15.99	15.86
2571.25	1028	194.02	1.99	0.00	2556.2	2606.2	2506.1	2102.7	3489.2	25.27	12.49	384	2584.64	0.00	0.00	3.52	0.000	0.000	0.074	2554.06	2603.06	2505.06	2102.31	2008.00	0	0	0	30.00	30.00	15.38
2768.57	8354	237.91	2.10	0.00	2554.6	2605.3	2503.8	2102.9	2008.8	6.91	7.29	422	2815.84	40.03	0.00	0.00	1.168	0.000	0.000	2378.09	2439.25	2316.94	2103.00	2008.19	0	0	0	11.96	30.00	30.00
2974	end climb: NO_VERTICAL_VELOCITY
state	2974	begin surface