Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 8 * 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 8 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 10 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 1.0384505 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 9.3148909 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 10 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 1.0384505 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 9.3148909 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 8 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 260623,002424,4736.469,-12256.499,0,0.9,2,15.4 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 -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,002732,4736.458,-12256.501,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 191.5,1012,-17.6,-10.000,-21.21,2209,0.145

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230626012000.332265,18,1334,31,0138,0000,246,02,02,00,04,-1,-01,-01,1,3,0,0,150,-3.1,0.70,-100,2.30,-01,0.05,57,925,0025,0,-1,00,00*21 _24V_AH 14.86,9.977

NAV 1687743034,0.1,2,stop _10V_AH 14.90,0.000

NET CACST,8,0,20230626010749.220882,18,32767,45,0101,0113,07,00,00,00,00,1,012,121,0,5,7,0,150,14.3,6.13,-100,-3.13,-01,-0.77,72,10000,5000,0,1,01,00*57 FG_AHR_24Vo 9.563

NET_PING 1687740779,29,584.083496,16.799999,-0.776435 FG_AHR_10Vo 1.086

FREEZE 5.11,14.258,-1.513,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3632.42,325.92,1.170,0,500.9,526.5,475.4,698.88 MEM2 935152,22,111436,77

SM_GC 1.32,0.00,11.98,0.06,0.000,0.056,0.208,498.3,522.8,473.8,191.2,2040.2,0,0,0,30.00,15.55,15.54 DATA_FILE_SIZE 12947,501

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 186176,0

IRIDIUM_FIX 4735.53,-12254.47,250623,233026 SDSIZE 3887104,3870432

TCM_TEMP -86.23 SDFILEDIR 101,9

SC_FREEKB 3876224 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 0,1687737600,47.60500,-122.95000,0.707,1035.4 CURRENT 0.064,209.0,1

RAFOS_FIX 4735.647949,-12257.229492,260623,010100,3,255,0.56 MAGCAL 1.000000,0.008484,-0.072728,-0.019603,1.072260,-0.036910,0.038403,-0.076295,0.945696,-152.4,-1220.0,-670.2,36,0.0412,0

HUMID 52.78 IMPLIED_C_PITCH 1763,12.85,238,0.0,0.00

TEMP 11.44 IMPLIED_C_VBD 3322,22.795050,238,0

INTERNAL_PRESSURE 8.00045 GPS 260623,013129,4735.974,-12256.869,2,1.4,31,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 793 1346 15887.04 nil 0 0 0.00

Pitch_motor 25 266 99.21 nil 0 0 0.00

Roll_motor 65 315 306.68 nil 0 0 0.00

Iridium 125 139 260.32 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 2132 5 162.66 SciCon 3278 6 316.11

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1424 0 6.79

Compass 1046 5 77.99

RAFOS 2304 40 1373.20

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

6.73 16386 -146.63 -1.44 0.00 495.8 517.4 474.2 187.8 2038.3 0.00 0.00 0 75.50 62.42 0.00 0.00 0.005 0.000 0.000 2286.06 2309.75 2262.38 187.88 2038.62 0 0 0 15.90 30.00 30.00

76.03 18983 -146.63 -1.44 -80.00 2285.6 2308.9 2262.2 187.8 2038.5 3.47 -3.33 12 143.61 41.60 7.89 3.85 0.005 0.267 0.173 3948.41 3953.06 3943.75 1253.62 561.00 0 0 0 15.96 15.80 15.86

167.34 3205 -146.63 -1.21 0.00 3949.9 3956.4 3943.5 1253.2 560.9 15.62 -16.88 28 175.78 0.00 0.36 3.48 0.000 0.205 0.079 3949.66 3956.19 3943.12 1308.25 2034.56 0 0 0 30.00 15.87 15.90

359.48 388 -146.63 -1.11 80.00 3951.2 3958.4 3943.9 1307.8 2035.1 42.11 -12.43 66 368.14 0.00 0.00 3.62 0.000 0.000 0.143 3951.16 3958.81 3943.50 1307.69 3488.12 0 0 0 30.00 30.00 15.96

477.00 3205 -146.63 -0.97 0.00 3951.1 3958.6 3943.7 1307.4 3487.4 58.94 -14.78 89 486.09 0.00 0.37 3.46 0.000 0.175 0.080 3950.62 3958.19 3943.06 1368.00 2009.00 0 0 0 30.00 15.97 16.00

667.04 388 -146.63 -0.93 80.00 3951.6 3959.4 3943.8 1368.2 2009.0 79.90 -10.86 109 675.84 0.00 0.00 3.66 0.000 0.000 0.136 3951.19 3958.62 3943.75 1367.75 3490.06 0 0 0 30.00 30.00 16.03

768.93 1156 -146.63 -0.87 0.00 3951.7 3959.4 3943.9 1367.8 3490.1 92.13 -12.21 129 777.00 0.00 0.00 3.48 0.000 0.000 0.081 3952.41 3960.31 3944.50 1368.00 2008.31 0 0 0 30.00 30.00 16.06

976.39 2437 -146.63 -0.83 80.00 3952.8 3961.6 3944.1 1368.0 2008.6 112.89 -10.61 149 988.11 0.00 0.20 3.67 0.000 0.174 0.139 3952.59 3961.31 3943.88 1400.56 3490.88 0 0 0 30.00 16.05 16.07

1046.81 1028 -146.63 -0.83 0.00 3952.3 3960.8 3943.9 1400.2 3490.3 121.72 -10.83 163 1054.58 0.00 0.00 3.47 0.000 0.000 0.081 3953.66 3961.81 3945.50 1400.19 2008.62 0 0 0 30.00 30.00 16.08

1241.92 292 -146.63 -0.83 80.00 3952.7 3961.6 3943.7 1400.5 2008.6 139.66 -9.07 183 1250.79 0.00 0.00 3.67 0.000 0.000 0.140 3952.41 3961.12 3943.69 1400.56 3490.12 0 0 0 30.00 30.00 16.09

1344 end dive: TARGET_DEPTH_EXCEEDED

state 1344 begin apogee

1352.01 10243 0.00 -0.36 0.00 3952.9 3961.6 3944.1 1400.5 2008.2 150.44 -10.67 203 1486.52 113.60 0.73 0.05 1.347 0.141 0.316 3349.12 3390.12 3308.12 1516.75 2038.50 0 0 0 12.17 16.09 15.68

1488 end apogee: CONTROL_FINISHED_OK

state 1488 begin climb

1488.01 10759 146.63 1.44 -80.00 3347.9 3388.3 3307.4 1517.1 2037.9 157.32 0.00 216 1635.69 121.39 2.79 4.05 1.305 0.112 0.190 2750.66 2802.38 2698.94 1951.75 561.88 0 0 0 11.86 15.69 15.42

1669.70 9382 193.58 1.54 0.00 2747.7 2796.4 2698.9 1951.9 561.8 148.08 7.83 248 1722.70 40.67 0.00 3.59 1.261 0.000 0.078 2557.81 2614.44 2501.19 1951.62 2039.00 0 0 0 11.75 30.00 15.62

1911.53 10663 239.00 1.70 80.00 2554.9 2610.8 2499.0 1951.4 2038.9 129.56 7.90 276 1962.94 38.26 0.35 3.73 1.262 0.066 0.150 2373.06 2435.38 2310.75 2029.06 3488.06 0 0 0 11.88 15.81 15.63

2076.86 1156 239.00 1.73 0.00 2371.1 2432.6 2309.6 2028.8 3488.2 109.58 12.88 308 2085.76 0.00 0.00 3.57 0.000 0.000 0.083 2372.41 2435.00 2309.81 2028.94 2009.81 0 0 0 30.00 30.00 15.78

2271.88 128 239.00 1.79 0.00 2369.1 2431.5 2306.7 2028.7 2009.2 87.45 10.99 328 2273.78 0.00 0.00 0.00 0.000 0.000 0.000 2367.12 2429.12 2305.12 2028.44 2010.12 0 0 0 30.00 30.00 30.00

2462.01 388 239.00 1.86 80.00 2368.8 2431.9 2305.8 2028.1 2009.2 67.70 10.43 347 2471.12 0.00 0.00 3.74 0.000 0.000 0.146 2366.75 2429.12 2304.38 2028.19 3489.62 0 0 0 30.00 30.00 15.92

2574.27 3205 239.00 1.90 0.00 2367.9 2430.1 2305.6 2029.3 3489.1 55.29 10.71 369 2582.92 0.00 0.19 3.52 0.000 0.087 0.083 2366.28 2428.19 2304.38 2072.75 2009.69 0 0 0 30.00 15.97 15.95

2765.08 388 239.00 1.94 80.00 2367.6 2429.9 2305.4 2074.0 2009.2 34.54 10.65 402 2773.94 0.00 0.00 3.71 0.000 0.000 0.143 2367.31 2430.62 2304.00 2074.50 3490.88 0 0 0 30.00 30.00 15.97

2837.65 17414 239.00 1.94 0.00 2367.4 2429.5 2305.3 2074.7 3490.5 25.91 12.24 416 2846.40 0.00 0.00 3.49 0.000 0.000 0.083 2365.84 2426.81 2304.88 2074.44 2009.00 0 0 0 30.00 30.00 15.99

3030.34 10403 295.98 2.07 0.00 2366.6 2428.8 2304.5 2074.3 2009.2 8.29 7.36 454 3088.81 49.92 0.17 0.00 1.210 0.094 0.000 2141.16 2206.75 2075.56 2120.38 2009.06 0 0 0 11.91 16.03 30.00

3273 end climb: NO_VERTICAL_VELOCITY

state 3273 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	8	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	10	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	1.0384505	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	9.3148909	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	260623,002424,4736.469,-12256.499,0,0.9,2,15.4	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	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,002732,4736.458,-12256.501,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	191.5,1012,-17.6,-10.000,-21.21,2209,0.145
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

MODEM_MSG	CACST,8,1,20230626012000.332265,18,1334,31,0138,0000,246,02,02,00,04,-1,-01,-01,1,3,0,0,150,-3.1,0.70,-100,2.30,-01,0.05,57,925,0025,0,-1,00,00*21	_24V_AH	14.86,9.977
NAV	1687743034,0.1,2,stop	_10V_AH	14.90,0.000
NET	CACST,8,0,20230626010749.220882,18,32767,45,0101,0113,07,00,00,00,00,1,012,121,0,5,7,0,150,14.3,6.13,-100,-3.13,-01,-0.77,72,10000,5000,0,1,01,00*57	FG_AHR_24Vo	9.563
NET_PING	1687740779,29,584.083496,16.799999,-0.776435	FG_AHR_10Vo	1.086
FREEZE	5.11,14.258,-1.513,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3632.42,325.92,1.170,0,500.9,526.5,475.4,698.88	MEM2	935152,22,111436,77
SM_GC	1.32,0.00,11.98,0.06,0.000,0.056,0.208,498.3,522.8,473.8,191.2,2040.2,0,0,0,30.00,15.55,15.54	DATA_FILE_SIZE	12947,501
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	186176,0
IRIDIUM_FIX	4735.53,-12254.47,250623,233026	SDSIZE	3887104,3870432
TCM_TEMP	-86.23	SDFILEDIR	101,9
SC_FREEKB	3876224	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	0,1687737600,47.60500,-122.95000,0.707,1035.4	CURRENT	0.064,209.0,1
RAFOS_FIX	4735.647949,-12257.229492,260623,010100,3,255,0.56	MAGCAL	1.000000,0.008484,-0.072728,-0.019603,1.072260,-0.036910,0.038403,-0.076295,0.945696,-152.4,-1220.0,-670.2,36,0.0412,0
HUMID	52.78	IMPLIED_C_PITCH	1763,12.85,238,0.0,0.00
TEMP	11.44	IMPLIED_C_VBD	3322,22.795050,238,0
INTERNAL_PRESSURE	8.00045	GPS	260623,013129,4735.974,-12256.869,2,1.4,31,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	793	1346	15887.04	nil	0	0	0.00
Pitch_motor	25	266	99.21	nil	0	0	0.00
Roll_motor	65	315	306.68	nil	0	0	0.00
Iridium	125	139	260.32	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	2132	5	162.66	SciCon	3278	6	316.11
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1424	0	6.79
Compass	1046	5	77.99
RAFOS	2304	40	1373.20
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
6.73	16386	-146.63	-1.44	0.00	495.8	517.4	474.2	187.8	2038.3	0.00	0.00	0	75.50	62.42	0.00	0.00	0.005	0.000	0.000	2286.06	2309.75	2262.38	187.88	2038.62	0	0	0	15.90	30.00	30.00
76.03	18983	-146.63	-1.44	-80.00	2285.6	2308.9	2262.2	187.8	2038.5	3.47	-3.33	12	143.61	41.60	7.89	3.85	0.005	0.267	0.173	3948.41	3953.06	3943.75	1253.62	561.00	0	0	0	15.96	15.80	15.86
167.34	3205	-146.63	-1.21	0.00	3949.9	3956.4	3943.5	1253.2	560.9	15.62	-16.88	28	175.78	0.00	0.36	3.48	0.000	0.205	0.079	3949.66	3956.19	3943.12	1308.25	2034.56	0	0	0	30.00	15.87	15.90
359.48	388	-146.63	-1.11	80.00	3951.2	3958.4	3943.9	1307.8	2035.1	42.11	-12.43	66	368.14	0.00	0.00	3.62	0.000	0.000	0.143	3951.16	3958.81	3943.50	1307.69	3488.12	0	0	0	30.00	30.00	15.96
477.00	3205	-146.63	-0.97	0.00	3951.1	3958.6	3943.7	1307.4	3487.4	58.94	-14.78	89	486.09	0.00	0.37	3.46	0.000	0.175	0.080	3950.62	3958.19	3943.06	1368.00	2009.00	0	0	0	30.00	15.97	16.00
667.04	388	-146.63	-0.93	80.00	3951.6	3959.4	3943.8	1368.2	2009.0	79.90	-10.86	109	675.84	0.00	0.00	3.66	0.000	0.000	0.136	3951.19	3958.62	3943.75	1367.75	3490.06	0	0	0	30.00	30.00	16.03
768.93	1156	-146.63	-0.87	0.00	3951.7	3959.4	3943.9	1367.8	3490.1	92.13	-12.21	129	777.00	0.00	0.00	3.48	0.000	0.000	0.081	3952.41	3960.31	3944.50	1368.00	2008.31	0	0	0	30.00	30.00	16.06
976.39	2437	-146.63	-0.83	80.00	3952.8	3961.6	3944.1	1368.0	2008.6	112.89	-10.61	149	988.11	0.00	0.20	3.67	0.000	0.174	0.139	3952.59	3961.31	3943.88	1400.56	3490.88	0	0	0	30.00	16.05	16.07
1046.81	1028	-146.63	-0.83	0.00	3952.3	3960.8	3943.9	1400.2	3490.3	121.72	-10.83	163	1054.58	0.00	0.00	3.47	0.000	0.000	0.081	3953.66	3961.81	3945.50	1400.19	2008.62	0	0	0	30.00	30.00	16.08
1241.92	292	-146.63	-0.83	80.00	3952.7	3961.6	3943.7	1400.5	2008.6	139.66	-9.07	183	1250.79	0.00	0.00	3.67	0.000	0.000	0.140	3952.41	3961.12	3943.69	1400.56	3490.12	0	0	0	30.00	30.00	16.09
1344	end dive: TARGET_DEPTH_EXCEEDED
state	1344	begin apogee
1352.01	10243	0.00	-0.36	0.00	3952.9	3961.6	3944.1	1400.5	2008.2	150.44	-10.67	203	1486.52	113.60	0.73	0.05	1.347	0.141	0.316	3349.12	3390.12	3308.12	1516.75	2038.50	0	0	0	12.17	16.09	15.68
1488	end apogee: CONTROL_FINISHED_OK
state	1488	begin climb
1488.01	10759	146.63	1.44	-80.00	3347.9	3388.3	3307.4	1517.1	2037.9	157.32	0.00	216	1635.69	121.39	2.79	4.05	1.305	0.112	0.190	2750.66	2802.38	2698.94	1951.75	561.88	0	0	0	11.86	15.69	15.42
1669.70	9382	193.58	1.54	0.00	2747.7	2796.4	2698.9	1951.9	561.8	148.08	7.83	248	1722.70	40.67	0.00	3.59	1.261	0.000	0.078	2557.81	2614.44	2501.19	1951.62	2039.00	0	0	0	11.75	30.00	15.62
1911.53	10663	239.00	1.70	80.00	2554.9	2610.8	2499.0	1951.4	2038.9	129.56	7.90	276	1962.94	38.26	0.35	3.73	1.262	0.066	0.150	2373.06	2435.38	2310.75	2029.06	3488.06	0	0	0	11.88	15.81	15.63
2076.86	1156	239.00	1.73	0.00	2371.1	2432.6	2309.6	2028.8	3488.2	109.58	12.88	308	2085.76	0.00	0.00	3.57	0.000	0.000	0.083	2372.41	2435.00	2309.81	2028.94	2009.81	0	0	0	30.00	30.00	15.78
2271.88	128	239.00	1.79	0.00	2369.1	2431.5	2306.7	2028.7	2009.2	87.45	10.99	328	2273.78	0.00	0.00	0.00	0.000	0.000	0.000	2367.12	2429.12	2305.12	2028.44	2010.12	0	0	0	30.00	30.00	30.00
2462.01	388	239.00	1.86	80.00	2368.8	2431.9	2305.8	2028.1	2009.2	67.70	10.43	347	2471.12	0.00	0.00	3.74	0.000	0.000	0.146	2366.75	2429.12	2304.38	2028.19	3489.62	0	0	0	30.00	30.00	15.92
2574.27	3205	239.00	1.90	0.00	2367.9	2430.1	2305.6	2029.3	3489.1	55.29	10.71	369	2582.92	0.00	0.19	3.52	0.000	0.087	0.083	2366.28	2428.19	2304.38	2072.75	2009.69	0	0	0	30.00	15.97	15.95
2765.08	388	239.00	1.94	80.00	2367.6	2429.9	2305.4	2074.0	2009.2	34.54	10.65	402	2773.94	0.00	0.00	3.71	0.000	0.000	0.143	2367.31	2430.62	2304.00	2074.50	3490.88	0	0	0	30.00	30.00	15.97
2837.65	17414	239.00	1.94	0.00	2367.4	2429.5	2305.3	2074.7	3490.5	25.91	12.24	416	2846.40	0.00	0.00	3.49	0.000	0.000	0.083	2365.84	2426.81	2304.88	2074.44	2009.00	0	0	0	30.00	30.00	15.99
3030.34	10403	295.98	2.07	0.00	2366.6	2428.8	2304.5	2074.3	2009.2	8.29	7.36	454	3088.81	49.92	0.17	0.00	1.210	0.094	0.000	2141.16	2206.75	2075.56	2120.38	2009.06	0	0	0	11.91	16.03	30.00
3273	end climb: NO_VERTICAL_VELOCITY
state	3273	begin surface