Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 51 * 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 51 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 3.0680244 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 20.098625 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 3.0680244 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 20.098625 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 51 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 270623,213724,4736.479,-12256.519,23,6.4,63,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,214044,4736.484,-12256.474,2,0.8,3,15.4 MHEAD_RNG_PITCHd_Wd 190.0,1070,-17.6,-10.000,-21.21,2209,0.141

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,8,1,20230627223159.441302,18,4692,36,0241,0000,246,03,03,00,03,-1,-01,-01,1,3,1,0,150,-5.6,1.83,-100,1.17,-01,0.01,70,925,0025,0,-1,00,00*22 _24V_AH 14.92,21.778

NAV 1687905580,1.8,3,stop _10V_AH 14.95,0.000

NET CACST,8,0,20230627220517.931908,18,32767,45,0105,0113,07,00,00,00,00,1,027,252,0,5,1,0,150,15.1,3.66,-100,-0.66,-01,-0.15,67,10000,5000,0,-1,00,00*7C FG_AHR_24Vo 20.343

NET_PING 1687903519,27,411.839996,15.100000,143.453079 FG_AHR_10Vo 3.115

FREEZE 5.21,15.085,-1.500,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3385.15,283.23,1.132,0,500.8,527.6,473.9,698.91 MEM2 945384,29,101124,74

SM_GC 1.46,0.00,11.98,0.06,0.000,0.036,0.191,496.9,522.3,471.5,192.8,2041.4,0,0,0,30.00,15.56,15.53 DATA_FILE_SIZE 12942,469

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 187962,0

IRIDIUM_FIX 4736.87,-12256.21,270623,203414 SDSIZE 3887104,3856288

TCM_TEMP -86.31 SDFILEDIR 457,52

SC_FREEKB 3862464 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 0,1687899600,47.60500,-122.95000,0.188,274.8 CURRENT 0.015, 31.0,1

RAFOS_FIX 4736.670410,-12257.472656,270623,222200,3,255,0.49 MAGCAL 1.000000,0.025370,-0.072252,-0.014697,1.082678,-0.153407,-0.099822,0.084950,1.321227,-186.1,-1188.9,-949.4,36,0.0463,0

HUMID 52.34 IMPLIED_C_PITCH 1769,13.50,217,0.0,0.00

TEMP 11.31 IMPLIED_C_VBD 3307,21.618849,217,0

INTERNAL_PRESSURE 7.99254 GPS 270623,224013,4736.171,-12256.613,5,1.1,7,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 800 1307 15620.51 nil 0 0 0.00

Pitch_motor 25 249 94.06 nil 0 0 0.00

Roll_motor 65 290 285.81 nil 0 0 0.00

Iridium 130 148 288.97 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.76 nil 0 0 0.00

Core 2089 5 159.97 SciCon 3078 6 297.82

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1272 0 6.09

Compass 985 5 73.66

RAFOS 2857 40 1709.02

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 0.00 495.9 521.6 470.3 185.4 2010.2 0.00 0.00 0 52.62 41.26 0.00 0.00 0.005 0.000 0.000 1747.12 1765.38 1728.88 185.31 2010.62 0 0 0 15.90 30.00 30.00

53.15 18727 -146.63 -1.44 80.00 1747.8 1766.7 1728.9 185.2 2010.1 3.23 -4.53 8 140.97 58.47 7.91 3.68 0.005 0.250 0.126 3949.22 3955.19 3943.25 1252.31 3491.50 0 0 0 15.94 15.79 15.88

370.22 3205 -146.63 -1.24 0.00 3951.1 3959.2 3942.9 1252.6 3491.4 50.30 -17.02 67 378.98 0.00 0.33 3.47 0.000 0.190 0.072 3951.28 3958.19 3944.38 1301.44 2007.69 0 0 0 30.00 15.91 15.96

564.94 644 -146.63 -1.15 -80.00 3952.2 3961.2 3943.1 1301.9 2007.2 77.01 -13.60 87 577.95 0.00 0.00 3.90 0.000 0.000 0.163 3913.03 3882.44 3943.62 1301.38 559.69 0 0 0 30.00 30.00 15.27

676.93 3205 -146.63 -1.00 0.00 3952.2 3961.4 3943.0 1302.1 559.8 95.33 -16.66 109 685.90 0.00 0.37 3.48 0.000 0.173 0.072 3952.16 3960.94 3943.38 1358.62 2034.56 0 0 0 30.00 15.93 15.94

871.82 388 -146.63 -0.97 80.00 3953.2 3963.3 3943.1 1359.2 2034.6 117.69 -11.04 129 880.63 0.00 0.00 3.62 0.000 0.000 0.132 3953.06 3962.88 3943.25 1359.62 3492.94 0 0 0 30.00 30.00 15.99

1019.50 1156 -146.63 -0.90 0.00 3953.4 3963.3 3943.5 1359.8 3492.6 135.73 -12.39 158 1028.13 0.00 0.00 3.49 0.000 0.000 0.076 3952.41 3962.44 3942.38 1359.44 2008.88 0 0 0 30.00 30.00 16.03

1148 end dive: TARGET_DEPTH_EXCEEDED

state 1148 begin apogee

1149.93 10243 0.00 -0.36 0.00 3953.3 3963.0 3943.6 1359.1 2042.9 150.02 -10.94 171 1280.04 116.23 1.02 0.07 1.307 0.133 0.291 3349.03 3388.62 3309.44 1516.12 2011.31 0 0 0 12.07 16.02 15.59

1281 end apogee: CONTROL_FINISHED_OK

state 1281 begin climb

1281.69 10759 146.63 1.44 -80.00 3348.6 3387.4 3309.8 1516.1 2011.4 156.60 0.00 183 1430.55 122.42 2.82 4.03 1.272 0.101 0.179 2748.44 2799.25 2697.62 1953.38 561.56 0 0 0 11.73 15.63 15.38

1493.03 9382 175.49 1.51 0.00 2746.2 2791.6 2700.8 1953.5 561.0 144.72 8.66 220 1531.81 26.11 0.00 3.60 1.205 0.000 0.071 2632.34 2682.38 2582.31 1952.88 2040.81 0 0 0 11.83 30.00 15.62

1715.73 10663 224.97 1.67 80.00 2629.0 2679.9 2578.2 1953.5 2041.2 127.14 7.71 246 1773.31 41.74 0.31 3.74 1.235 0.063 0.139 2390.56 2409.19 2371.94 2022.12 3489.62 0 0 0 12.03 15.78 15.60

1886.47 1156 224.97 1.70 0.00 2428.2 2488.2 2368.2 2024.2 3489.1 108.06 11.78 279 1894.82 0.00 0.00 3.57 0.000 0.000 0.077 2428.41 2488.06 2368.75 2024.12 2009.56 0 0 0 30.00 30.00 15.75

2082.26 388 224.97 1.76 80.00 2427.2 2488.1 2366.4 2024.3 2009.6 87.00 10.80 299 2091.36 0.00 0.00 3.77 0.000 0.000 0.135 2426.72 2487.62 2365.81 2022.81 3488.75 0 0 0 30.00 30.00 15.84

2140.27 1156 224.97 1.80 0.00 2426.7 2487.2 2366.1 2023.9 3488.9 80.56 11.11 310 2149.16 0.00 0.00 3.53 0.000 0.000 0.076 2424.59 2485.06 2364.12 2022.38 2009.06 0 0 0 30.00 30.00 15.87

2331.25 10663 236.05 1.88 80.00 2425.9 2486.1 2365.7 2024.2 2008.7 62.36 9.49 329 2355.06 11.83 0.19 3.76 1.091 0.076 0.137 2385.50 2443.75 2327.25 2072.81 3489.62 0 0 0 11.84 15.93 15.85

2388.02 1028 236.05 1.88 0.00 2385.9 2444.8 2327.0 2072.3 3489.8 55.03 12.45 340 2396.56 0.00 0.00 3.51 0.000 0.000 0.076 2385.41 2443.88 2326.94 2072.81 2008.00 0 0 0 30.00 30.00 15.89

2579.00 388 236.05 1.91 80.00 2385.1 2445.0 2325.1 2072.5 2007.8 33.92 10.77 374 2587.85 0.00 0.00 3.72 0.000 0.000 0.133 2383.62 2443.50 2323.75 2071.94 3490.69 0 0 0 30.00 30.00 15.92

2631.58 1028 236.05 1.91 0.00 2384.8 2444.6 2325.0 2072.2 3490.6 27.65 12.07 384 2640.43 0.00 0.00 3.51 0.000 0.000 0.075 2382.44 2442.69 2322.19 2072.38 2009.44 0 0 0 30.00 30.00 15.95

2824.36 8614 263.19 1.99 80.00 2384.3 2444.6 2323.9 2072.6 2008.2 9.06 8.74 422 2864.03 25.75 0.00 3.75 1.155 0.000 0.135 2258.78 2304.00 2213.56 2070.75 3489.88 0 0 0 11.99 30.00 15.87

2888.02 11431 348.98 2.18 0.00 2274.7 2337.8 2211.5 2072.0 3490.7 5.21 6.03 434 2978.50 73.69 0.34 3.51 1.160 0.057 0.072 1925.78 2000.75 1850.81 2146.25 2006.56 0 0 0 11.87 15.91 15.90

3072 end climb: NO_VERTICAL_VELOCITY

state 3072 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	51	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	3.0680244	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	20.098625	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	270623,213724,4736.479,-12256.519,23,6.4,63,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,214044,4736.484,-12256.474,2,0.8,3,15.4	MHEAD_RNG_PITCHd_Wd	190.0,1070,-17.6,-10.000,-21.21,2209,0.141
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,8,1,20230627223159.441302,18,4692,36,0241,0000,246,03,03,00,03,-1,-01,-01,1,3,1,0,150,-5.6,1.83,-100,1.17,-01,0.01,70,925,0025,0,-1,00,00*22	_24V_AH	14.92,21.778
NAV	1687905580,1.8,3,stop	_10V_AH	14.95,0.000
NET	CACST,8,0,20230627220517.931908,18,32767,45,0105,0113,07,00,00,00,00,1,027,252,0,5,1,0,150,15.1,3.66,-100,-0.66,-01,-0.15,67,10000,5000,0,-1,00,00*7C	FG_AHR_24Vo	20.343
NET_PING	1687903519,27,411.839996,15.100000,143.453079	FG_AHR_10Vo	3.115
FREEZE	5.21,15.085,-1.500,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3385.15,283.23,1.132,0,500.8,527.6,473.9,698.91	MEM2	945384,29,101124,74
SM_GC	1.46,0.00,11.98,0.06,0.000,0.036,0.191,496.9,522.3,471.5,192.8,2041.4,0,0,0,30.00,15.56,15.53	DATA_FILE_SIZE	12942,469
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	187962,0
IRIDIUM_FIX	4736.87,-12256.21,270623,203414	SDSIZE	3887104,3856288
TCM_TEMP	-86.31	SDFILEDIR	457,52
SC_FREEKB	3862464	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	0,1687899600,47.60500,-122.95000,0.188,274.8	CURRENT	0.015, 31.0,1
RAFOS_FIX	4736.670410,-12257.472656,270623,222200,3,255,0.49	MAGCAL	1.000000,0.025370,-0.072252,-0.014697,1.082678,-0.153407,-0.099822,0.084950,1.321227,-186.1,-1188.9,-949.4,36,0.0463,0
HUMID	52.34	IMPLIED_C_PITCH	1769,13.50,217,0.0,0.00
TEMP	11.31	IMPLIED_C_VBD	3307,21.618849,217,0
INTERNAL_PRESSURE	7.99254	GPS	270623,224013,4736.171,-12256.613,5,1.1,7,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	800	1307	15620.51	nil	0	0	0.00
Pitch_motor	25	249	94.06	nil	0	0	0.00
Roll_motor	65	290	285.81	nil	0	0	0.00
Iridium	130	148	288.97	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.76	nil	0	0	0.00
Core	2089	5	159.97	SciCon	3078	6	297.82
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1272	0	6.09
Compass	985	5	73.66
RAFOS	2857	40	1709.02
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	495.9	521.6	470.3	185.4	2010.2	0.00	0.00	0	52.62	41.26	0.00	0.00	0.005	0.000	0.000	1747.12	1765.38	1728.88	185.31	2010.62	0	0	0	15.90	30.00	30.00
53.15	18727	-146.63	-1.44	80.00	1747.8	1766.7	1728.9	185.2	2010.1	3.23	-4.53	8	140.97	58.47	7.91	3.68	0.005	0.250	0.126	3949.22	3955.19	3943.25	1252.31	3491.50	0	0	0	15.94	15.79	15.88
370.22	3205	-146.63	-1.24	0.00	3951.1	3959.2	3942.9	1252.6	3491.4	50.30	-17.02	67	378.98	0.00	0.33	3.47	0.000	0.190	0.072	3951.28	3958.19	3944.38	1301.44	2007.69	0	0	0	30.00	15.91	15.96
564.94	644	-146.63	-1.15	-80.00	3952.2	3961.2	3943.1	1301.9	2007.2	77.01	-13.60	87	577.95	0.00	0.00	3.90	0.000	0.000	0.163	3913.03	3882.44	3943.62	1301.38	559.69	0	0	0	30.00	30.00	15.27
676.93	3205	-146.63	-1.00	0.00	3952.2	3961.4	3943.0	1302.1	559.8	95.33	-16.66	109	685.90	0.00	0.37	3.48	0.000	0.173	0.072	3952.16	3960.94	3943.38	1358.62	2034.56	0	0	0	30.00	15.93	15.94
871.82	388	-146.63	-0.97	80.00	3953.2	3963.3	3943.1	1359.2	2034.6	117.69	-11.04	129	880.63	0.00	0.00	3.62	0.000	0.000	0.132	3953.06	3962.88	3943.25	1359.62	3492.94	0	0	0	30.00	30.00	15.99
1019.50	1156	-146.63	-0.90	0.00	3953.4	3963.3	3943.5	1359.8	3492.6	135.73	-12.39	158	1028.13	0.00	0.00	3.49	0.000	0.000	0.076	3952.41	3962.44	3942.38	1359.44	2008.88	0	0	0	30.00	30.00	16.03
1148	end dive: TARGET_DEPTH_EXCEEDED
state	1148	begin apogee
1149.93	10243	0.00	-0.36	0.00	3953.3	3963.0	3943.6	1359.1	2042.9	150.02	-10.94	171	1280.04	116.23	1.02	0.07	1.307	0.133	0.291	3349.03	3388.62	3309.44	1516.12	2011.31	0	0	0	12.07	16.02	15.59
1281	end apogee: CONTROL_FINISHED_OK
state	1281	begin climb
1281.69	10759	146.63	1.44	-80.00	3348.6	3387.4	3309.8	1516.1	2011.4	156.60	0.00	183	1430.55	122.42	2.82	4.03	1.272	0.101	0.179	2748.44	2799.25	2697.62	1953.38	561.56	0	0	0	11.73	15.63	15.38
1493.03	9382	175.49	1.51	0.00	2746.2	2791.6	2700.8	1953.5	561.0	144.72	8.66	220	1531.81	26.11	0.00	3.60	1.205	0.000	0.071	2632.34	2682.38	2582.31	1952.88	2040.81	0	0	0	11.83	30.00	15.62
1715.73	10663	224.97	1.67	80.00	2629.0	2679.9	2578.2	1953.5	2041.2	127.14	7.71	246	1773.31	41.74	0.31	3.74	1.235	0.063	0.139	2390.56	2409.19	2371.94	2022.12	3489.62	0	0	0	12.03	15.78	15.60
1886.47	1156	224.97	1.70	0.00	2428.2	2488.2	2368.2	2024.2	3489.1	108.06	11.78	279	1894.82	0.00	0.00	3.57	0.000	0.000	0.077	2428.41	2488.06	2368.75	2024.12	2009.56	0	0	0	30.00	30.00	15.75
2082.26	388	224.97	1.76	80.00	2427.2	2488.1	2366.4	2024.3	2009.6	87.00	10.80	299	2091.36	0.00	0.00	3.77	0.000	0.000	0.135	2426.72	2487.62	2365.81	2022.81	3488.75	0	0	0	30.00	30.00	15.84
2140.27	1156	224.97	1.80	0.00	2426.7	2487.2	2366.1	2023.9	3488.9	80.56	11.11	310	2149.16	0.00	0.00	3.53	0.000	0.000	0.076	2424.59	2485.06	2364.12	2022.38	2009.06	0	0	0	30.00	30.00	15.87
2331.25	10663	236.05	1.88	80.00	2425.9	2486.1	2365.7	2024.2	2008.7	62.36	9.49	329	2355.06	11.83	0.19	3.76	1.091	0.076	0.137	2385.50	2443.75	2327.25	2072.81	3489.62	0	0	0	11.84	15.93	15.85
2388.02	1028	236.05	1.88	0.00	2385.9	2444.8	2327.0	2072.3	3489.8	55.03	12.45	340	2396.56	0.00	0.00	3.51	0.000	0.000	0.076	2385.41	2443.88	2326.94	2072.81	2008.00	0	0	0	30.00	30.00	15.89
2579.00	388	236.05	1.91	80.00	2385.1	2445.0	2325.1	2072.5	2007.8	33.92	10.77	374	2587.85	0.00	0.00	3.72	0.000	0.000	0.133	2383.62	2443.50	2323.75	2071.94	3490.69	0	0	0	30.00	30.00	15.92
2631.58	1028	236.05	1.91	0.00	2384.8	2444.6	2325.0	2072.2	3490.6	27.65	12.07	384	2640.43	0.00	0.00	3.51	0.000	0.000	0.075	2382.44	2442.69	2322.19	2072.38	2009.44	0	0	0	30.00	30.00	15.95
2824.36	8614	263.19	1.99	80.00	2384.3	2444.6	2323.9	2072.6	2008.2	9.06	8.74	422	2864.03	25.75	0.00	3.75	1.155	0.000	0.135	2258.78	2304.00	2213.56	2070.75	3489.88	0	0	0	11.99	30.00	15.87
2888.02	11431	348.98	2.18	0.00	2274.7	2337.8	2211.5	2072.0	3490.7	5.21	6.03	434	2978.50	73.69	0.34	3.51	1.160	0.057	0.072	1925.78	2000.75	1850.81	2146.25	2006.56	0	0	0	11.87	15.91	15.90
3072	end climb: NO_VERTICAL_VELOCITY
state	3072	begin surface