Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 21 * 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 21 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 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 1.6623243 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 12.630941 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 30 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 1.6623243 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.630941 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 21 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 260623,142504,4736.363,-12256.552,0,0.9,2,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,142822,4736.376,-12256.510,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 196.5,869,-17.6,-10.000,-21.21,2209,0.132

SPEED_LIMITS 0.173,0.258 D_GRID 169

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 8000307

Post-dive calculations and measurements:

NAV 1687793279,0.1,2,stop _24V_AH 14.92,13.602

NET xmit ok outbox0017.n 888 14 _10V_AH 14.95,0.000

NET_PING 1687791160,29,297.776978,4.500000,-0.394282 FG_AHR_24Vo 12.883

FREEZE 4.66,15.336,-1.469,0,1,0 FG_AHR_10Vo 1.705

SURF forcing MEM0 59804,1,0,0

SM_CCo 3425.37,252.10,1.158,0,500.9,526.6,475.2,698.88 MEM1 65508,1,0,0

SM_GC 1.41,0.00,12.30,0.06,0.000,0.056,0.203,497.9,522.6,473.2,194.0,2039.4,0,0,0,30.00,15.55,15.54 MEM2 945388,29,101120,74

MODEM_MSG CACST,8,1,20230626151000.411284,18,5846,37,0310,0000,216,00,00,00,01,-1,-01,-01,1,3,0,0,150,-19.6,0.61,-100,2.39,-01,0.06,39,925,0025,0,-1,00,00*12 DATA_FILE_SIZE 12950,477

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 190669,0

IRIDIUM_FIX 4735.53,-12254.47,260623,132147 SDSIZE 3887104,3866048

TCM_TEMP -86.33 SDFILEDIR 212,22

SC_FREEKB 3872064 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 0,1687791600,47.60500,-122.95000,0.289,423.2 CURRENT 0.010,109.2,1

RAFOS_FIX 4736.606445,-12257.000000,260623,151500,2,510,0.30 IMPLIED_C_PITCH 1764,13.06,218,0.0,0.00

HUMID 52.40 IMPLIED_C_VBD 3314,16.218561,218,0

TEMP 11.20 GPS 260623,152839,4736.031,-12256.817,1,1.1,15,15.4

INTERNAL_PRESSURE 7.98491

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 799 1351 16124.82 nil 0 0 0.00

Pitch_motor 25 268 103.33 nil 0 0 0.00

Roll_motor 66 301 297.56 nil 0 0 0.00

Iridium 127 162 308.98 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 2140 5 163.82 SciCon 3151 6 304.79

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1294 0 6.19

Compass 1006 5 75.25

RAFOS 2167 40 1296.27

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

6.74 16386 -146.63 -1.44 0.00 495.1 517.1 473.1 191.6 2011.3 0.00 0.00 0 69.39 56.86 0.00 0.00 0.005 0.000 0.000 2135.56 2153.62 2117.50 191.62 2011.50 0 0 0 15.88 30.00 30.00

69.93 18727 -146.63 -1.44 80.00 2135.6 2153.8 2117.4 191.4 2011.9 3.45 -3.58 11 141.83 44.60 7.97 3.71 0.005 0.268 0.134 3948.09 3952.31 3943.88 1253.19 3489.25 0 0 0 15.93 15.78 15.86

275.57 3205 -146.63 -1.24 0.00 3950.2 3956.4 3944.1 1253.4 3490.2 35.27 -17.83 50 284.02 0.00 0.32 3.48 0.000 0.197 0.078 3949.97 3956.50 3943.44 1302.06 2010.38 0 0 0 30.00 15.91 15.93

472.73 388 -146.63 -1.14 80.00 3950.6 3958.0 3943.2 1302.2 2010.2 62.31 -13.28 80 481.76 0.00 0.00 3.73 0.000 0.000 0.134 3950.25 3957.19 3943.31 1302.00 3491.44 0 0 0 30.00 30.00 15.98

575.34 3205 -146.63 -1.05 0.00 3951.5 3959.1 3943.9 1301.7 3490.6 77.90 -15.52 99 587.72 0.00 0.29 3.56 0.000 0.178 0.079 3951.44 3958.19 3944.69 1348.25 2007.94 0 0 0 30.00 15.87 15.49

774.68 388 -146.63 -1.00 80.00 3951.7 3959.1 3944.3 1347.9 2008.8 101.66 -11.64 120 783.59 0.00 0.00 3.73 0.000 0.000 0.136 3951.16 3957.81 3944.50 1348.12 3491.69 0 0 0 30.00 30.00 15.95

856.69 3205 -146.63 -0.92 0.00 3951.2 3958.8 3943.7 1347.9 3491.9 112.77 -13.73 136 865.08 0.00 0.20 3.50 0.000 0.180 0.081 3951.41 3958.69 3944.12 1380.44 2009.94 0 0 0 30.00 15.96 15.98

1047.30 292 -146.63 -0.92 80.00 3952.5 3960.4 3944.5 1380.2 2009.8 131.87 -9.80 155 1056.29 0.00 0.00 3.73 0.000 0.000 0.137 3952.62 3961.19 3944.06 1380.25 3490.50 0 0 0 30.00 30.00 16.00

1169.62 1156 -146.63 -0.87 0.00 3952.6 3960.7 3944.5 1380.2 3490.5 146.46 -12.11 179 1177.72 0.00 0.00 3.50 0.000 0.000 0.083 3952.69 3960.94 3944.44 1380.06 2009.56 0 0 0 30.00 30.00 16.04

1205 end dive: TARGET_DEPTH_EXCEEDED

state 1205 begin apogee

1207.13 10243 0.00 -0.36 0.00 3952.5 3961.4 3943.7 1380.1 2040.8 150.29 -10.95 183 1337.29 115.00 0.88 0.06 1.352 0.137 0.302 3348.53 3387.62 3309.44 1516.31 2011.62 0 0 0 11.96 16.02 15.61

1338 end apogee: CONTROL_FINISHED_OK

state 1339 begin climb

1338.83 10759 146.63 1.44 -80.00 3348.6 3387.6 3309.6 1516.1 2011.9 157.13 0.00 195 1489.22 122.08 2.82 4.05 1.311 0.111 0.186 2749.75 2798.75 2700.75 1951.75 561.00 0 0 0 11.86 15.65 15.39

1507.46 11431 198.24 1.55 0.00 2748.6 2796.1 2701.1 1952.0 560.9 149.18 7.61 224 1566.10 44.83 0.15 3.62 1.267 0.096 0.077 2540.38 2597.12 2483.62 1990.69 2039.38 0 0 0 11.83 15.56 15.56

1750.05 8614 213.12 1.64 80.00 2536.7 2591.5 2481.8 1990.6 2039.3 127.45 9.31 253 1774.28 13.99 0.00 3.74 1.170 0.000 0.148 2481.50 2538.56 2424.44 1991.31 3489.75 0 0 0 11.91 30.00 15.70

1856.65 1156 213.12 1.69 0.00 2479.0 2534.5 2423.5 1991.0 3489.3 116.12 11.03 272 1865.01 0.00 0.00 3.59 0.000 0.000 0.083 2478.56 2533.69 2423.44 1991.94 2009.88 0 0 0 30.00 30.00 15.78

2052.53 10663 233.53 1.80 80.00 2477.6 2533.6 2421.6 1991.3 2009.4 97.64 9.05 292 2082.98 18.90 0.26 3.80 1.213 0.069 0.145 2394.50 2451.88 2337.12 2054.94 3488.94 0 0 0 12.00 15.89 15.79

2121.79 1028 233.53 1.80 0.00 2395.2 2452.8 2337.6 2055.3 3488.9 89.20 12.91 305 2130.80 0.00 0.00 3.56 0.000 0.000 0.083 2393.03 2451.12 2334.94 2055.50 2009.56 0 0 0 30.00 30.00 15.83

2323.27 388 233.53 1.85 80.00 2393.5 2452.4 2334.5 2055.4 2010.2 67.03 11.30 325 2335.41 0.00 0.00 3.77 0.000 0.000 0.143 2394.03 2454.06 2334.00 2055.25 3488.88 0 0 0 30.00 30.00 15.88

2374.13 1028 233.53 1.85 0.00 2393.8 2452.5 2335.1 2055.6 3489.1 60.30 11.93 335 2383.25 0.00 0.00 3.53 0.000 0.000 0.082 2391.53 2450.88 2332.19 2055.44 2008.94 0 0 0 30.00 30.00 15.91

2564.35 388 233.53 1.89 80.00 2393.2 2451.9 2334.4 2055.1 2008.4 39.73 10.60 364 2573.23 0.00 0.00 3.77 0.000 0.000 0.143 2391.19 2450.12 2332.25 2055.50 3489.31 0 0 0 30.00 30.00 15.94

2621.96 1028 233.53 1.89 0.00 2393.1 2452.5 2333.7 2055.4 3489.5 33.03 11.53 375 2630.83 0.00 0.00 3.52 0.000 0.000 0.082 2391.41 2450.88 2331.94 2055.31 2010.19 0 0 0 30.00 30.00 15.96

2814.76 8354 257.00 1.98 0.00 2392.7 2451.8 2333.7 2055.1 2009.8 14.82 8.91 413 2840.95 22.64 0.00 0.00 1.191 0.000 0.000 2302.19 2361.50 2242.88 2054.31 2009.44 0 0 0 12.12 30.00 30.00

3024.98 10663 415.96 2.29 80.00 2297.0 2358.4 2235.6 2055.6 2009.4 5.44 2.64 455 3145.55 108.50 0.62 0.00 1.212 0.058 0.000 1779.56 1858.31 1700.81 2169.19 2010.31 0 0 0 11.95 15.97 30.00

3146 end climb: NO_VERTICAL_VELOCITY

state 3146 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	21	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	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	1.6623243	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	12.630941	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	260623,142504,4736.363,-12256.552,0,0.9,2,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,142822,4736.376,-12256.510,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	196.5,869,-17.6,-10.000,-21.21,2209,0.132
SPEED_LIMITS	0.173,0.258	D_GRID	169
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	8000307

NAV	1687793279,0.1,2,stop	_24V_AH	14.92,13.602
NET	xmit ok outbox0017.n 888 14	_10V_AH	14.95,0.000
NET_PING	1687791160,29,297.776978,4.500000,-0.394282	FG_AHR_24Vo	12.883
FREEZE	4.66,15.336,-1.469,0,1,0	FG_AHR_10Vo	1.705
SURF	forcing	MEM0	59804,1,0,0
SM_CCo	3425.37,252.10,1.158,0,500.9,526.6,475.2,698.88	MEM1	65508,1,0,0
SM_GC	1.41,0.00,12.30,0.06,0.000,0.056,0.203,497.9,522.6,473.2,194.0,2039.4,0,0,0,30.00,15.55,15.54	MEM2	945388,29,101120,74
MODEM_MSG	CACST,8,1,20230626151000.411284,18,5846,37,0310,0000,216,00,00,00,01,-1,-01,-01,1,3,0,0,150,-19.6,0.61,-100,2.39,-01,0.06,39,925,0025,0,-1,00,00*12	DATA_FILE_SIZE	12950,477
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	190669,0
IRIDIUM_FIX	4735.53,-12254.47,260623,132147	SDSIZE	3887104,3866048
TCM_TEMP	-86.33	SDFILEDIR	212,22
SC_FREEKB	3872064	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	0,1687791600,47.60500,-122.95000,0.289,423.2	CURRENT	0.010,109.2,1
RAFOS_FIX	4736.606445,-12257.000000,260623,151500,2,510,0.30	IMPLIED_C_PITCH	1764,13.06,218,0.0,0.00
HUMID	52.40	IMPLIED_C_VBD	3314,16.218561,218,0
TEMP	11.20	GPS	260623,152839,4736.031,-12256.817,1,1.1,15,15.4
INTERNAL_PRESSURE	7.98491

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	799	1351	16124.82	nil	0	0	0.00
Pitch_motor	25	268	103.33	nil	0	0	0.00
Roll_motor	66	301	297.56	nil	0	0	0.00
Iridium	127	162	308.98	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	2140	5	163.82	SciCon	3151	6	304.79
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1294	0	6.19
Compass	1006	5	75.25
RAFOS	2167	40	1296.27
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
6.74	16386	-146.63	-1.44	0.00	495.1	517.1	473.1	191.6	2011.3	0.00	0.00	0	69.39	56.86	0.00	0.00	0.005	0.000	0.000	2135.56	2153.62	2117.50	191.62	2011.50	0	0	0	15.88	30.00	30.00
69.93	18727	-146.63	-1.44	80.00	2135.6	2153.8	2117.4	191.4	2011.9	3.45	-3.58	11	141.83	44.60	7.97	3.71	0.005	0.268	0.134	3948.09	3952.31	3943.88	1253.19	3489.25	0	0	0	15.93	15.78	15.86
275.57	3205	-146.63	-1.24	0.00	3950.2	3956.4	3944.1	1253.4	3490.2	35.27	-17.83	50	284.02	0.00	0.32	3.48	0.000	0.197	0.078	3949.97	3956.50	3943.44	1302.06	2010.38	0	0	0	30.00	15.91	15.93
472.73	388	-146.63	-1.14	80.00	3950.6	3958.0	3943.2	1302.2	2010.2	62.31	-13.28	80	481.76	0.00	0.00	3.73	0.000	0.000	0.134	3950.25	3957.19	3943.31	1302.00	3491.44	0	0	0	30.00	30.00	15.98
575.34	3205	-146.63	-1.05	0.00	3951.5	3959.1	3943.9	1301.7	3490.6	77.90	-15.52	99	587.72	0.00	0.29	3.56	0.000	0.178	0.079	3951.44	3958.19	3944.69	1348.25	2007.94	0	0	0	30.00	15.87	15.49
774.68	388	-146.63	-1.00	80.00	3951.7	3959.1	3944.3	1347.9	2008.8	101.66	-11.64	120	783.59	0.00	0.00	3.73	0.000	0.000	0.136	3951.16	3957.81	3944.50	1348.12	3491.69	0	0	0	30.00	30.00	15.95
856.69	3205	-146.63	-0.92	0.00	3951.2	3958.8	3943.7	1347.9	3491.9	112.77	-13.73	136	865.08	0.00	0.20	3.50	0.000	0.180	0.081	3951.41	3958.69	3944.12	1380.44	2009.94	0	0	0	30.00	15.96	15.98
1047.30	292	-146.63	-0.92	80.00	3952.5	3960.4	3944.5	1380.2	2009.8	131.87	-9.80	155	1056.29	0.00	0.00	3.73	0.000	0.000	0.137	3952.62	3961.19	3944.06	1380.25	3490.50	0	0	0	30.00	30.00	16.00
1169.62	1156	-146.63	-0.87	0.00	3952.6	3960.7	3944.5	1380.2	3490.5	146.46	-12.11	179	1177.72	0.00	0.00	3.50	0.000	0.000	0.083	3952.69	3960.94	3944.44	1380.06	2009.56	0	0	0	30.00	30.00	16.04
1205	end dive: TARGET_DEPTH_EXCEEDED
state	1205	begin apogee
1207.13	10243	0.00	-0.36	0.00	3952.5	3961.4	3943.7	1380.1	2040.8	150.29	-10.95	183	1337.29	115.00	0.88	0.06	1.352	0.137	0.302	3348.53	3387.62	3309.44	1516.31	2011.62	0	0	0	11.96	16.02	15.61
1338	end apogee: CONTROL_FINISHED_OK
state	1339	begin climb
1338.83	10759	146.63	1.44	-80.00	3348.6	3387.6	3309.6	1516.1	2011.9	157.13	0.00	195	1489.22	122.08	2.82	4.05	1.311	0.111	0.186	2749.75	2798.75	2700.75	1951.75	561.00	0	0	0	11.86	15.65	15.39
1507.46	11431	198.24	1.55	0.00	2748.6	2796.1	2701.1	1952.0	560.9	149.18	7.61	224	1566.10	44.83	0.15	3.62	1.267	0.096	0.077	2540.38	2597.12	2483.62	1990.69	2039.38	0	0	0	11.83	15.56	15.56
1750.05	8614	213.12	1.64	80.00	2536.7	2591.5	2481.8	1990.6	2039.3	127.45	9.31	253	1774.28	13.99	0.00	3.74	1.170	0.000	0.148	2481.50	2538.56	2424.44	1991.31	3489.75	0	0	0	11.91	30.00	15.70
1856.65	1156	213.12	1.69	0.00	2479.0	2534.5	2423.5	1991.0	3489.3	116.12	11.03	272	1865.01	0.00	0.00	3.59	0.000	0.000	0.083	2478.56	2533.69	2423.44	1991.94	2009.88	0	0	0	30.00	30.00	15.78
2052.53	10663	233.53	1.80	80.00	2477.6	2533.6	2421.6	1991.3	2009.4	97.64	9.05	292	2082.98	18.90	0.26	3.80	1.213	0.069	0.145	2394.50	2451.88	2337.12	2054.94	3488.94	0	0	0	12.00	15.89	15.79
2121.79	1028	233.53	1.80	0.00	2395.2	2452.8	2337.6	2055.3	3488.9	89.20	12.91	305	2130.80	0.00	0.00	3.56	0.000	0.000	0.083	2393.03	2451.12	2334.94	2055.50	2009.56	0	0	0	30.00	30.00	15.83
2323.27	388	233.53	1.85	80.00	2393.5	2452.4	2334.5	2055.4	2010.2	67.03	11.30	325	2335.41	0.00	0.00	3.77	0.000	0.000	0.143	2394.03	2454.06	2334.00	2055.25	3488.88	0	0	0	30.00	30.00	15.88
2374.13	1028	233.53	1.85	0.00	2393.8	2452.5	2335.1	2055.6	3489.1	60.30	11.93	335	2383.25	0.00	0.00	3.53	0.000	0.000	0.082	2391.53	2450.88	2332.19	2055.44	2008.94	0	0	0	30.00	30.00	15.91
2564.35	388	233.53	1.89	80.00	2393.2	2451.9	2334.4	2055.1	2008.4	39.73	10.60	364	2573.23	0.00	0.00	3.77	0.000	0.000	0.143	2391.19	2450.12	2332.25	2055.50	3489.31	0	0	0	30.00	30.00	15.94
2621.96	1028	233.53	1.89	0.00	2393.1	2452.5	2333.7	2055.4	3489.5	33.03	11.53	375	2630.83	0.00	0.00	3.52	0.000	0.000	0.082	2391.41	2450.88	2331.94	2055.31	2010.19	0	0	0	30.00	30.00	15.96
2814.76	8354	257.00	1.98	0.00	2392.7	2451.8	2333.7	2055.1	2009.8	14.82	8.91	413	2840.95	22.64	0.00	0.00	1.191	0.000	0.000	2302.19	2361.50	2242.88	2054.31	2009.44	0	0	0	12.12	30.00	30.00
3024.98	10663	415.96	2.29	80.00	2297.0	2358.4	2235.6	2055.6	2009.4	5.44	2.64	455	3145.55	108.50	0.62	0.00	1.212	0.058	0.000	1779.56	1858.31	1700.81	2169.19	2010.31	0	0	0	11.95	15.97	30.00
3146	end climb: NO_VERTICAL_VELOCITY
state	3146	begin surface