Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 2 * 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 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 3 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 0.8202706 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 7.8134847 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 3 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 0.8202706 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 7.8134847 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 2 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 250623,180548,4736.442,-12256.640,1,1.2,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,180834,4736.438,-12256.658,2,1.2,4,15.4 MHEAD_RNG_PITCHd_Wd 170.6,920,-17.6,-10.000,-21.21,2209,0.140

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.028359,-0.130968,-0.036957,1.052244,-0.113160,-0.066910,-0.004227,1.105952,-127.888931,-1140.028320,-763.835999

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0000.n 828 0 _24V_AH 15.01,8.345

MODEM_MSG CACST,8,0,20230625182500.420064,18,32767,39,0170,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,4.1,5.09,-100,-2.09,-01,-0.14,71,925,0025,0,1,00,00*32 _10V_AH 15.00,0.000

NAV 1687719851,2.8,0,stop FG_AHR_24Vo 8.056

NET_PING 1687719161,29,406.258514,8.900000,-0.542685 FG_AHR_10Vo 0.856

FREEZE 2.82,14.177,-1.512,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3781.97,323.23,1.154,0,500.7,523.1,478.2,698.94 MEM2 945244,38,101084,74

SM_GC 1.69,0.00,12.04,3.53,0.000,0.061,0.076,498.0,520.2,475.8,190.1,2005.8,0,0,0,30.00,15.68,15.67 DATA_FILE_SIZE 12967,529

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 212974,0

IRIDIUM_FIX 4735.14,-12301.57,250623,180215 SDSIZE 3887104,3872352

TCM_TEMP -85.97 SDFILEDIR 52,3

SC_FREEKB 3878144 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 1,1687716600,47.50000,-123.00000,240.562,352423.4 CURRENT 0.028,129.4,1

RAFOS_FIX 4952.779785,-12300.000000,250623,181800,2,510,368.13 MAGCAL 1.000000,0.000179,-0.119567,-0.043698,1.011354,-0.007385,-0.060462,-0.050818,1.041945,-134.4,-1216.9,-738.3,33,0.0408,0

HUMID 53.98 IMPLIED_C_PITCH 1766,13.24,244,0.0,0.00

TEMP 11.68 IMPLIED_C_VBD 3395,29.946594,244,0

INTERNAL_PRESSURE 8.03352 GPS 250623,191501,4735.996,-12256.644,1,0.7,27,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 793 1311 15625.73 nil 0 0 0.00

Pitch_motor 24 247 91.46 nil 0 0 0.00

Roll_motor 78 291 344.55 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2101 5 161.38 SciCon 3427 6 333.52

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1475 0 7.08

Compass 1107 5 83.03

RAFOS 1635 40 981.32

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

6.97 16386 -146.63 -1.44 0.00 495.6 514.8 476.4 211.2 2040.4 0.00 0.00 0 84.32 70.44 0.00 0.00 0.005 0.000 0.000 2488.94 2502.19 2475.69 211.00 2040.19 0 0 0 15.29 30.00 30.00

84.85 18983 -146.63 -1.44 -80.00 2488.0 2500.7 2475.2 211.2 2039.6 3.03 -2.50 13 151.49 39.65 7.47 3.72 0.005 0.247 0.155 3948.03 3954.00 3942.06 1253.38 558.81 0 0 0 16.16 15.99 16.06

210.35 3205 -146.63 -1.22 0.00 3950.2 3956.8 3943.7 1253.3 558.8 14.34 -12.91 36 219.21 0.00 0.34 3.44 0.000 0.195 0.074 3949.06 3955.50 3942.62 1305.12 2035.38 0 0 0 30.00 16.03 16.07

403.12 420 -146.63 -1.12 80.00 3950.4 3957.9 3942.8 1305.3 2036.1 34.41 -9.74 74 411.50 0.00 0.00 3.56 0.000 0.000 0.138 3950.41 3957.75 3943.06 1305.00 3490.31 0 0 0 30.00 30.00 16.06

610.38 3205 -146.63 -0.97 0.00 3950.7 3958.7 3942.7 1305.4 3490.2 59.78 -13.30 115 619.49 0.00 0.39 3.42 0.000 0.169 0.071 3950.28 3957.19 3943.38 1366.62 2008.31 0 0 0 30.00 16.06 16.11

811.46 420 -146.63 -0.92 80.00 3951.0 3959.2 3942.8 1366.9 2008.0 79.28 -9.92 135 823.66 0.00 0.00 3.62 0.000 0.000 0.131 3951.03 3959.81 3942.25 1366.50 3491.50 0 0 0 30.00 30.00 16.05

892.52 3205 -146.63 -0.84 0.00 3951.0 3959.2 3942.7 1366.6 3491.6 89.57 -12.22 151 901.43 0.00 0.20 3.43 0.000 0.172 0.074 3951.78 3959.75 3943.81 1398.69 2007.31 0 0 0 30.00 16.06 16.10

1087.50 292 -146.63 -0.84 80.00 3951.7 3960.6 3942.8 1399.3 2006.2 106.99 -8.48 171 1096.59 0.00 0.00 3.61 0.000 0.000 0.134 3951.53 3960.31 3942.75 1399.12 3490.69 0 0 0 30.00 30.00 16.10

1179.73 1156 -146.63 -0.80 0.00 3951.7 3960.6 3942.8 1399.1 3490.4 116.50 -10.63 189 1187.98 0.00 0.00 3.43 0.000 0.000 0.075 3952.44 3961.00 3943.88 1399.44 2006.00 0 0 0 30.00 30.00 16.10

1375.45 292 -146.63 -0.80 80.00 3952.0 3961.2 3942.8 1399.3 2006.6 134.58 -9.58 209 1384.51 0.00 0.00 3.62 0.000 0.000 0.136 3951.59 3961.06 3942.12 1399.50 3490.31 0 0 0 30.00 30.00 16.13

1497.48 1028 -146.63 -0.80 0.00 3951.9 3961.2 3942.6 1399.4 3490.1 147.78 -10.77 233 1505.91 0.00 0.00 3.45 0.000 0.000 0.075 3952.81 3962.06 3943.56 1399.38 2008.75 0 0 0 30.00 30.00 16.16

1523 end dive: TARGET_DEPTH_EXCEEDED

state 1523 begin apogee

1525.05 10243 0.00 -0.36 0.00 3952.2 3961.6 3942.8 1399.4 2042.4 150.25 -10.02 236 1655.32 115.61 0.74 0.07 1.311 0.131 0.292 3350.41 3392.00 3308.81 1516.75 2009.75 0 0 0 11.76 16.13 15.73

1656 end apogee: CONTROL_FINISHED_OK

state 1656 begin climb

1656.80 10759 146.63 1.44 -80.00 3348.6 3390.6 3306.6 1517.1 2009.6 156.85 0.00 248 1805.85 121.69 2.78 3.86 1.275 0.109 0.176 2749.66 2800.88 2698.44 1951.94 561.12 0 0 0 11.80 15.76 15.52

1819.84 9382 189.03 1.54 0.00 2747.8 2797.4 2698.2 1951.8 561.1 148.91 8.04 276 1869.62 36.81 0.00 3.55 1.226 0.000 0.075 2576.09 2629.88 2522.31 1951.56 2041.81 0 0 0 11.76 30.00 15.67

2053.53 10663 228.46 1.68 80.00 2572.6 2626.2 2519.0 1951.4 2041.7 129.59 8.17 304 2100.13 33.90 0.32 3.65 1.227 0.068 0.145 2418.50 2477.06 2359.94 2022.62 3489.50 0 0 0 11.68 15.88 15.73

2203.27 1156 228.46 1.71 0.00 2413.9 2472.4 2355.4 2023.8 3489.5 111.85 12.60 333 2211.62 0.00 0.00 3.51 0.000 0.000 0.077 2414.22 2472.94 2355.50 2023.44 2008.50 0 0 0 30.00 30.00 15.87

2399.06 388 228.46 1.77 80.00 2412.6 2472.5 2352.6 2023.7 2007.9 89.98 10.70 353 2408.06 0.00 0.00 3.68 0.000 0.000 0.139 2409.66 2469.44 2349.88 2023.62 3490.19 0 0 0 30.00 30.00 15.96

2456.97 1156 228.46 1.81 0.00 2412.1 2471.8 2352.3 2023.8 3489.9 83.33 11.48 364 2465.78 0.00 0.00 3.47 0.000 0.000 0.076 2413.66 2473.88 2353.44 2024.12 2005.19 0 0 0 30.00 30.00 16.00

2656.03 10663 235.18 1.88 80.00 2411.3 2470.5 2352.1 2023.4 2005.1 63.39 9.69 385 2673.73 7.34 0.20 3.70 0.970 0.080 0.140 2390.34 2449.12 2331.56 2070.62 3491.00 0 0 0 12.00 15.63 15.92

2737.46 1028 235.18 1.88 0.00 2389.5 2448.2 2330.8 2071.1 3490.5 53.26 12.78 401 2745.55 0.00 0.00 3.47 0.000 0.000 0.076 2390.53 2450.44 2330.62 2070.94 2008.75 0 0 0 30.00 30.00 16.01

2927.68 388 235.18 1.92 80.00 2388.6 2447.9 2329.4 2070.7 2008.2 31.29 11.33 436 2936.45 0.00 0.00 3.65 0.000 0.000 0.138 2391.66 2451.19 2332.12 2070.38 3489.00 0 0 0 30.00 30.00 16.04

2985.17 1028 235.18 1.92 0.00 2388.6 2447.5 2329.7 2070.8 3488.9 24.33 12.04 447 2993.92 0.00 0.00 3.43 0.000 0.000 0.076 2390.31 2450.38 2330.25 2070.62 2008.19 0 0 0 30.00 30.00 16.07

3177.79 10663 286.66 2.05 80.00 2387.8 2447.0 2328.6 2070.4 2008.2 6.54 7.62 481 3236.46 45.13 0.16 3.70 1.190 0.095 0.140 2179.09 2244.06 2114.12 2113.44 3490.25 0 0 0 11.72 16.08 15.89

3425 end climb: NO_VERTICAL_VELOCITY

state 3425 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	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	3	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	0.8202706	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	7.8134847	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	250623,180548,4736.442,-12256.640,1,1.2,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,180834,4736.438,-12256.658,2,1.2,4,15.4	MHEAD_RNG_PITCHd_Wd	170.6,920,-17.6,-10.000,-21.21,2209,0.140
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.028359,-0.130968,-0.036957,1.052244,-0.113160,-0.066910,-0.004227,1.105952,-127.888931,-1140.028320,-763.835999
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	xmit part outbox0000.n 828 0	_24V_AH	15.01,8.345
MODEM_MSG	CACST,8,0,20230625182500.420064,18,32767,39,0170,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,4.1,5.09,-100,-2.09,-01,-0.14,71,925,0025,0,1,00,00*32	_10V_AH	15.00,0.000
NAV	1687719851,2.8,0,stop	FG_AHR_24Vo	8.056
NET_PING	1687719161,29,406.258514,8.900000,-0.542685	FG_AHR_10Vo	0.856
FREEZE	2.82,14.177,-1.512,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3781.97,323.23,1.154,0,500.7,523.1,478.2,698.94	MEM2	945244,38,101084,74
SM_GC	1.69,0.00,12.04,3.53,0.000,0.061,0.076,498.0,520.2,475.8,190.1,2005.8,0,0,0,30.00,15.68,15.67	DATA_FILE_SIZE	12967,529
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	212974,0
IRIDIUM_FIX	4735.14,-12301.57,250623,180215	SDSIZE	3887104,3872352
TCM_TEMP	-85.97	SDFILEDIR	52,3
SC_FREEKB	3878144	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	1,1687716600,47.50000,-123.00000,240.562,352423.4	CURRENT	0.028,129.4,1
RAFOS_FIX	4952.779785,-12300.000000,250623,181800,2,510,368.13	MAGCAL	1.000000,0.000179,-0.119567,-0.043698,1.011354,-0.007385,-0.060462,-0.050818,1.041945,-134.4,-1216.9,-738.3,33,0.0408,0
HUMID	53.98	IMPLIED_C_PITCH	1766,13.24,244,0.0,0.00
TEMP	11.68	IMPLIED_C_VBD	3395,29.946594,244,0
INTERNAL_PRESSURE	8.03352	GPS	250623,191501,4735.996,-12256.644,1,0.7,27,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	793	1311	15625.73	nil	0	0	0.00
Pitch_motor	24	247	91.46	nil	0	0	0.00
Roll_motor	78	291	344.55	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2101	5	161.38	SciCon	3427	6	333.52
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1475	0	7.08
Compass	1107	5	83.03
RAFOS	1635	40	981.32
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
6.97	16386	-146.63	-1.44	0.00	495.6	514.8	476.4	211.2	2040.4	0.00	0.00	0	84.32	70.44	0.00	0.00	0.005	0.000	0.000	2488.94	2502.19	2475.69	211.00	2040.19	0	0	0	15.29	30.00	30.00
84.85	18983	-146.63	-1.44	-80.00	2488.0	2500.7	2475.2	211.2	2039.6	3.03	-2.50	13	151.49	39.65	7.47	3.72	0.005	0.247	0.155	3948.03	3954.00	3942.06	1253.38	558.81	0	0	0	16.16	15.99	16.06
210.35	3205	-146.63	-1.22	0.00	3950.2	3956.8	3943.7	1253.3	558.8	14.34	-12.91	36	219.21	0.00	0.34	3.44	0.000	0.195	0.074	3949.06	3955.50	3942.62	1305.12	2035.38	0	0	0	30.00	16.03	16.07
403.12	420	-146.63	-1.12	80.00	3950.4	3957.9	3942.8	1305.3	2036.1	34.41	-9.74	74	411.50	0.00	0.00	3.56	0.000	0.000	0.138	3950.41	3957.75	3943.06	1305.00	3490.31	0	0	0	30.00	30.00	16.06
610.38	3205	-146.63	-0.97	0.00	3950.7	3958.7	3942.7	1305.4	3490.2	59.78	-13.30	115	619.49	0.00	0.39	3.42	0.000	0.169	0.071	3950.28	3957.19	3943.38	1366.62	2008.31	0	0	0	30.00	16.06	16.11
811.46	420	-146.63	-0.92	80.00	3951.0	3959.2	3942.8	1366.9	2008.0	79.28	-9.92	135	823.66	0.00	0.00	3.62	0.000	0.000	0.131	3951.03	3959.81	3942.25	1366.50	3491.50	0	0	0	30.00	30.00	16.05
892.52	3205	-146.63	-0.84	0.00	3951.0	3959.2	3942.7	1366.6	3491.6	89.57	-12.22	151	901.43	0.00	0.20	3.43	0.000	0.172	0.074	3951.78	3959.75	3943.81	1398.69	2007.31	0	0	0	30.00	16.06	16.10
1087.50	292	-146.63	-0.84	80.00	3951.7	3960.6	3942.8	1399.3	2006.2	106.99	-8.48	171	1096.59	0.00	0.00	3.61	0.000	0.000	0.134	3951.53	3960.31	3942.75	1399.12	3490.69	0	0	0	30.00	30.00	16.10
1179.73	1156	-146.63	-0.80	0.00	3951.7	3960.6	3942.8	1399.1	3490.4	116.50	-10.63	189	1187.98	0.00	0.00	3.43	0.000	0.000	0.075	3952.44	3961.00	3943.88	1399.44	2006.00	0	0	0	30.00	30.00	16.10
1375.45	292	-146.63	-0.80	80.00	3952.0	3961.2	3942.8	1399.3	2006.6	134.58	-9.58	209	1384.51	0.00	0.00	3.62	0.000	0.000	0.136	3951.59	3961.06	3942.12	1399.50	3490.31	0	0	0	30.00	30.00	16.13
1497.48	1028	-146.63	-0.80	0.00	3951.9	3961.2	3942.6	1399.4	3490.1	147.78	-10.77	233	1505.91	0.00	0.00	3.45	0.000	0.000	0.075	3952.81	3962.06	3943.56	1399.38	2008.75	0	0	0	30.00	30.00	16.16
1523	end dive: TARGET_DEPTH_EXCEEDED
state	1523	begin apogee
1525.05	10243	0.00	-0.36	0.00	3952.2	3961.6	3942.8	1399.4	2042.4	150.25	-10.02	236	1655.32	115.61	0.74	0.07	1.311	0.131	0.292	3350.41	3392.00	3308.81	1516.75	2009.75	0	0	0	11.76	16.13	15.73
1656	end apogee: CONTROL_FINISHED_OK
state	1656	begin climb
1656.80	10759	146.63	1.44	-80.00	3348.6	3390.6	3306.6	1517.1	2009.6	156.85	0.00	248	1805.85	121.69	2.78	3.86	1.275	0.109	0.176	2749.66	2800.88	2698.44	1951.94	561.12	0	0	0	11.80	15.76	15.52
1819.84	9382	189.03	1.54	0.00	2747.8	2797.4	2698.2	1951.8	561.1	148.91	8.04	276	1869.62	36.81	0.00	3.55	1.226	0.000	0.075	2576.09	2629.88	2522.31	1951.56	2041.81	0	0	0	11.76	30.00	15.67
2053.53	10663	228.46	1.68	80.00	2572.6	2626.2	2519.0	1951.4	2041.7	129.59	8.17	304	2100.13	33.90	0.32	3.65	1.227	0.068	0.145	2418.50	2477.06	2359.94	2022.62	3489.50	0	0	0	11.68	15.88	15.73
2203.27	1156	228.46	1.71	0.00	2413.9	2472.4	2355.4	2023.8	3489.5	111.85	12.60	333	2211.62	0.00	0.00	3.51	0.000	0.000	0.077	2414.22	2472.94	2355.50	2023.44	2008.50	0	0	0	30.00	30.00	15.87
2399.06	388	228.46	1.77	80.00	2412.6	2472.5	2352.6	2023.7	2007.9	89.98	10.70	353	2408.06	0.00	0.00	3.68	0.000	0.000	0.139	2409.66	2469.44	2349.88	2023.62	3490.19	0	0	0	30.00	30.00	15.96
2456.97	1156	228.46	1.81	0.00	2412.1	2471.8	2352.3	2023.8	3489.9	83.33	11.48	364	2465.78	0.00	0.00	3.47	0.000	0.000	0.076	2413.66	2473.88	2353.44	2024.12	2005.19	0	0	0	30.00	30.00	16.00
2656.03	10663	235.18	1.88	80.00	2411.3	2470.5	2352.1	2023.4	2005.1	63.39	9.69	385	2673.73	7.34	0.20	3.70	0.970	0.080	0.140	2390.34	2449.12	2331.56	2070.62	3491.00	0	0	0	12.00	15.63	15.92
2737.46	1028	235.18	1.88	0.00	2389.5	2448.2	2330.8	2071.1	3490.5	53.26	12.78	401	2745.55	0.00	0.00	3.47	0.000	0.000	0.076	2390.53	2450.44	2330.62	2070.94	2008.75	0	0	0	30.00	30.00	16.01
2927.68	388	235.18	1.92	80.00	2388.6	2447.9	2329.4	2070.7	2008.2	31.29	11.33	436	2936.45	0.00	0.00	3.65	0.000	0.000	0.138	2391.66	2451.19	2332.12	2070.38	3489.00	0	0	0	30.00	30.00	16.04
2985.17	1028	235.18	1.92	0.00	2388.6	2447.5	2329.7	2070.8	3488.9	24.33	12.04	447	2993.92	0.00	0.00	3.43	0.000	0.000	0.076	2390.31	2450.38	2330.25	2070.62	2008.19	0	0	0	30.00	30.00	16.07
3177.79	10663	286.66	2.05	80.00	2387.8	2447.0	2328.6	2070.4	2008.2	6.54	7.62	481	3236.46	45.13	0.16	3.70	1.190	0.095	0.140	2179.09	2244.06	2114.12	2113.44	3490.25	0	0	0	11.72	16.08	15.89
3425	end climb: NO_VERTICAL_VELOCITY
state	3425	begin surface