Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 25 * 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 25 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 2 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 1.8395284 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.648057 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 1.8395284 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.648057 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 25 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 260623,184411,4735.983,-12256.870,3,0.9,5,15.4 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 -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,184733,4736.004,-12256.836,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 9.8,1075,-17.6,-10.000,-21.21,2209,0.155

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.016934,-0.036323,-0.013430,1.067023,-0.081901,0.004424,-0.067849,1.061935,-196.162842,-1202.491089,-757.748840

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0021.n 1754 18 _24V_AH 14.92,14.711

NAV 1687807633,67.2,4,stop _10V_AH 14.97,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 13.898

NET_PING 1687807365,29,460.152008,11.700000,-0.611721 FG_AHR_10Vo 1.886

MODEM_MSG CACST,8,1,20230626192500.231422,18,16249,30,0335,0000,246,02,02,02,02,-1,-01,-01,2,3,1,0,150,-1.8,4.82,-100,-1.82,-01,-0.25,75,925,0025,0,-1,00,00*1D MEM0 59804,1,0,0

FREEZE 4.79,13.889,-1.536,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 945400,28,101128,74

SM_CCo 3520.52,306.37,1.161,0,500.8,527.2,474.4,698.90 DATA_FILE_SIZE 12938,485

SM_GC 2.11,0.00,12.27,0.05,0.000,0.056,0.210,497.4,522.9,471.9,191.5,2037.4,0,0,0,30.00,15.58,15.57 CAP_FILE_SIZE 189267,0

SUPER 27,71,254,1,0,0 SDSIZE 3887104,3864704

IRIDIUM_FIX 4735.06,-12250.06,260623,174650 SDFILEDIR 246,26

TCM_TEMP -86.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3870784 SOUNDSPEED 1465.0

RAFOS_CLK 0 CURRENT 0.026, 62.0,1

MODEM 0,1687806000,47.60500,-122.95000,0.415,608.3 MAGCAL 1.000000,0.046263,-0.031439,-0.024466,1.069328,-0.095746,-0.015505,-0.118780,1.088848,-195.9,-1194.3,-780.5,34,0.0554,0

RAFOS_FIX 4738.436035,-12259.514648,260623,191900,4,255,2.50 IMPLIED_C_PITCH 1759,13.61,229,0.0,0.00

HUMID 52.52 IMPLIED_C_VBD 3305,18.563829,229,0

TEMP 11.16 GPS 260623,194940,4736.285,-12256.608,34,0.8,35,15.4

INTERNAL_PRESSURE 7.99378

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 807 1341 16158.31 nil 0 0 0.00

Pitch_motor 25 251 96.04 nil 0 0 0.00

Roll_motor 59 303 270.66 nil 0 0 0.00

Iridium 133 150 299.46 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 2217 5 169.98 SciCon 3187 7 379.24

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1258 0 6.03

Compass 1018 5 76.24

RAFOS 1695 40 1015.04

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

6.75 16386 -146.63 -1.44 0.00 495.0 516.1 474.0 190.1 2036.1 0.00 0.00 0 61.71 49.77 0.00 0.00 0.005 0.000 0.000 1963.44 1983.50 1943.38 190.50 2037.00 0 0 0 15.93 30.00 30.00

62.25 18983 -146.63 -1.44 -80.00 1964.9 1986.6 1943.3 190.3 2036.9 3.11 -3.64 10 145.03 54.79 7.81 3.93 0.005 0.252 0.167 3949.16 3953.69 3944.62 1253.56 561.19 0 0 0 15.94 15.81 15.87

312.93 3205 -146.63 -1.23 0.00 3950.5 3957.1 3943.9 1253.6 560.9 40.08 -17.37 57 321.45 0.00 0.32 3.52 0.000 0.197 0.079 3950.28 3956.62 3943.94 1302.25 2034.19 0 0 0 30.00 15.92 15.94

505.22 644 -146.63 -1.14 -80.00 3951.0 3958.0 3943.9 1302.9 2035.2 65.46 -12.70 83 514.30 0.00 0.00 3.97 0.000 0.000 0.168 3951.28 3958.56 3944.00 1302.75 561.19 0 0 0 30.00 30.00 15.98

740.35 3205 -146.63 -1.00 0.00 3951.4 3958.4 3944.4 1302.4 560.9 102.72 -16.20 128 749.55 0.00 0.38 3.52 0.000 0.177 0.078 3951.19 3958.62 3943.75 1360.56 2034.88 0 0 0 30.00 16.01 16.04

935.37 388 -146.63 -0.96 80.00 3952.2 3960.3 3944.1 1360.6 2034.6 124.04 -10.53 148 944.15 0.00 0.00 3.65 0.000 0.000 0.140 3952.81 3961.19 3944.44 1360.44 3491.88 0 0 0 30.00 30.00 16.03

1063.02 3205 -146.63 -0.89 0.00 3952.6 3960.7 3944.5 1360.9 3491.2 139.37 -12.50 173 1072.02 0.00 0.16 3.56 0.000 0.188 0.082 3953.19 3961.25 3945.12 1387.44 2009.56 0 0 0 30.00 16.02 16.05

1178 end dive: TARGET_DEPTH_EXCEEDED

state 1178 begin apogee

1179.83 10243 0.00 -0.36 0.00 3952.7 3961.4 3944.1 1387.9 2040.4 150.97 -9.75 185 1309.06 114.08 0.82 0.06 1.341 0.134 0.303 3349.16 3388.44 3309.88 1516.12 2012.31 0 0 0 12.12 16.03 15.61

1318 end apogee: CONTROL_FINISHED_OK

state 1318 begin climb

1318.61 10759 146.63 1.44 -80.00 3348.1 3386.8 3309.4 1516.4 2012.0 157.22 0.00 197 1467.65 121.82 2.81 4.16 1.301 0.109 0.186 2748.62 2798.62 2698.62 1951.88 562.12 0 0 0 11.94 15.65 15.40

1540.89 9382 160.53 1.49 0.00 2746.8 2792.9 2700.8 1951.9 562.6 143.77 9.36 237 1564.97 13.38 0.00 3.64 1.149 0.000 0.077 2695.38 2743.38 2647.38 1951.62 2038.88 0 0 0 11.75 30.00 15.64

1748.88 10663 197.82 1.62 80.00 2691.4 2739.3 2643.5 1951.9 2039.2 126.56 8.27 260 1795.38 32.35 0.24 3.77 1.256 0.073 0.146 2543.28 2596.88 2489.69 2009.38 3488.44 0 0 0 11.93 15.80 15.66

1864.11 1028 197.82 1.62 0.00 2540.2 2592.6 2487.8 2009.4 3488.6 114.66 11.18 282 1873.30 0.00 0.00 3.63 0.000 0.000 0.082 2538.09 2589.88 2486.31 2008.50 2011.56 0 0 0 30.00 30.00 15.75

2059.41 8354 206.99 1.69 0.00 2538.5 2592.6 2484.4 2009.2 2011.6 95.54 9.58 302 2074.83 9.58 0.00 0.00 1.079 0.000 0.000 2502.47 2555.56 2449.38 2009.19 2010.94 0 0 0 12.02 30.00 30.00

2260.34 8614 214.44 1.76 80.00 2503.4 2558.2 2448.6 2009.4 2010.8 76.07 9.65 322 2280.00 9.22 0.00 3.85 1.056 0.000 0.144 2473.31 2527.12 2419.50 2009.06 3488.69 0 0 0 12.00 30.00 15.67

2360.68 3205 214.44 1.81 0.00 2474.0 2528.6 2419.4 2009.3 3487.7 65.94 10.51 341 2370.01 0.00 0.18 3.61 0.000 0.078 0.082 2472.25 2527.12 2417.38 2057.12 2010.44 0 0 0 30.00 15.81 15.78

2555.70 388 214.44 1.85 80.00 2472.7 2527.9 2417.4 2056.6 2010.6 45.95 10.17 364 2564.59 0.00 0.00 3.80 0.000 0.000 0.141 2469.91 2525.38 2414.44 2056.44 3490.19 0 0 0 30.00 30.00 15.88

2623.42 1028 214.44 1.85 0.00 2472.8 2528.4 2417.2 2056.3 3490.0 38.34 11.32 377 2632.33 0.00 0.00 3.57 0.000 0.000 0.083 2471.44 2526.56 2416.31 2056.69 2009.69 0 0 0 30.00 30.00 15.92

2816.29 8614 231.44 1.91 80.00 2472.2 2527.5 2416.9 2056.1 2009.7 19.55 9.21 415 2845.92 17.68 0.00 3.80 1.172 0.000 0.143 2404.38 2461.81 2346.94 2057.50 3488.44 0 0 0 11.96 30.00 15.90

2899.74 9254 240.42 1.93 0.00 2404.2 2462.2 2346.2 2057.4 3489.4 11.65 9.58 431 2919.71 10.20 0.00 3.56 1.064 0.000 0.081 2365.88 2425.44 2306.31 2056.88 2011.06 0 0 0 12.18 30.00 15.94

3105.24 10919 429.52 2.26 -80.00 2366.8 2428.1 2305.4 2057.2 2011.0 5.41 1.24 471 3181.81 68.21 0.56 0.00 1.210 0.055 0.000 2052.66 2121.19 1984.12 2164.06 2010.69 0 0 0 12.00 15.99 30.00

3182 end climb: NO_VERTICAL_VELOCITY

state 3183 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	25	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	2	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	1.8395284	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.648057	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	260623,184411,4735.983,-12256.870,3,0.9,5,15.4	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	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,184733,4736.004,-12256.836,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	9.8,1075,-17.6,-10.000,-21.21,2209,0.155
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.016934,-0.036323,-0.013430,1.067023,-0.081901,0.004424,-0.067849,1.061935,-196.162842,-1202.491089,-757.748840
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	xmit part outbox0021.n 1754 18	_24V_AH	14.92,14.711
NAV	1687807633,67.2,4,stop	_10V_AH	14.97,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	13.898
NET_PING	1687807365,29,460.152008,11.700000,-0.611721	FG_AHR_10Vo	1.886
MODEM_MSG	CACST,8,1,20230626192500.231422,18,16249,30,0335,0000,246,02,02,02,02,-1,-01,-01,2,3,1,0,150,-1.8,4.82,-100,-1.82,-01,-0.25,75,925,0025,0,-1,00,00*1D	MEM0	59804,1,0,0
FREEZE	4.79,13.889,-1.536,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	945400,28,101128,74
SM_CCo	3520.52,306.37,1.161,0,500.8,527.2,474.4,698.90	DATA_FILE_SIZE	12938,485
SM_GC	2.11,0.00,12.27,0.05,0.000,0.056,0.210,497.4,522.9,471.9,191.5,2037.4,0,0,0,30.00,15.58,15.57	CAP_FILE_SIZE	189267,0
SUPER	27,71,254,1,0,0	SDSIZE	3887104,3864704
IRIDIUM_FIX	4735.06,-12250.06,260623,174650	SDFILEDIR	246,26
TCM_TEMP	-86.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3870784	SOUNDSPEED	1465.0
RAFOS_CLK	0	CURRENT	0.026, 62.0,1
MODEM	0,1687806000,47.60500,-122.95000,0.415,608.3	MAGCAL	1.000000,0.046263,-0.031439,-0.024466,1.069328,-0.095746,-0.015505,-0.118780,1.088848,-195.9,-1194.3,-780.5,34,0.0554,0
RAFOS_FIX	4738.436035,-12259.514648,260623,191900,4,255,2.50	IMPLIED_C_PITCH	1759,13.61,229,0.0,0.00
HUMID	52.52	IMPLIED_C_VBD	3305,18.563829,229,0
TEMP	11.16	GPS	260623,194940,4736.285,-12256.608,34,0.8,35,15.4
INTERNAL_PRESSURE	7.99378

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	807	1341	16158.31	nil	0	0	0.00
Pitch_motor	25	251	96.04	nil	0	0	0.00
Roll_motor	59	303	270.66	nil	0	0	0.00
Iridium	133	150	299.46	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	2217	5	169.98	SciCon	3187	7	379.24
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1258	0	6.03
Compass	1018	5	76.24
RAFOS	1695	40	1015.04
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
6.75	16386	-146.63	-1.44	0.00	495.0	516.1	474.0	190.1	2036.1	0.00	0.00	0	61.71	49.77	0.00	0.00	0.005	0.000	0.000	1963.44	1983.50	1943.38	190.50	2037.00	0	0	0	15.93	30.00	30.00
62.25	18983	-146.63	-1.44	-80.00	1964.9	1986.6	1943.3	190.3	2036.9	3.11	-3.64	10	145.03	54.79	7.81	3.93	0.005	0.252	0.167	3949.16	3953.69	3944.62	1253.56	561.19	0	0	0	15.94	15.81	15.87
312.93	3205	-146.63	-1.23	0.00	3950.5	3957.1	3943.9	1253.6	560.9	40.08	-17.37	57	321.45	0.00	0.32	3.52	0.000	0.197	0.079	3950.28	3956.62	3943.94	1302.25	2034.19	0	0	0	30.00	15.92	15.94
505.22	644	-146.63	-1.14	-80.00	3951.0	3958.0	3943.9	1302.9	2035.2	65.46	-12.70	83	514.30	0.00	0.00	3.97	0.000	0.000	0.168	3951.28	3958.56	3944.00	1302.75	561.19	0	0	0	30.00	30.00	15.98
740.35	3205	-146.63	-1.00	0.00	3951.4	3958.4	3944.4	1302.4	560.9	102.72	-16.20	128	749.55	0.00	0.38	3.52	0.000	0.177	0.078	3951.19	3958.62	3943.75	1360.56	2034.88	0	0	0	30.00	16.01	16.04
935.37	388	-146.63	-0.96	80.00	3952.2	3960.3	3944.1	1360.6	2034.6	124.04	-10.53	148	944.15	0.00	0.00	3.65	0.000	0.000	0.140	3952.81	3961.19	3944.44	1360.44	3491.88	0	0	0	30.00	30.00	16.03
1063.02	3205	-146.63	-0.89	0.00	3952.6	3960.7	3944.5	1360.9	3491.2	139.37	-12.50	173	1072.02	0.00	0.16	3.56	0.000	0.188	0.082	3953.19	3961.25	3945.12	1387.44	2009.56	0	0	0	30.00	16.02	16.05
1178	end dive: TARGET_DEPTH_EXCEEDED
state	1178	begin apogee
1179.83	10243	0.00	-0.36	0.00	3952.7	3961.4	3944.1	1387.9	2040.4	150.97	-9.75	185	1309.06	114.08	0.82	0.06	1.341	0.134	0.303	3349.16	3388.44	3309.88	1516.12	2012.31	0	0	0	12.12	16.03	15.61
1318	end apogee: CONTROL_FINISHED_OK
state	1318	begin climb
1318.61	10759	146.63	1.44	-80.00	3348.1	3386.8	3309.4	1516.4	2012.0	157.22	0.00	197	1467.65	121.82	2.81	4.16	1.301	0.109	0.186	2748.62	2798.62	2698.62	1951.88	562.12	0	0	0	11.94	15.65	15.40
1540.89	9382	160.53	1.49	0.00	2746.8	2792.9	2700.8	1951.9	562.6	143.77	9.36	237	1564.97	13.38	0.00	3.64	1.149	0.000	0.077	2695.38	2743.38	2647.38	1951.62	2038.88	0	0	0	11.75	30.00	15.64
1748.88	10663	197.82	1.62	80.00	2691.4	2739.3	2643.5	1951.9	2039.2	126.56	8.27	260	1795.38	32.35	0.24	3.77	1.256	0.073	0.146	2543.28	2596.88	2489.69	2009.38	3488.44	0	0	0	11.93	15.80	15.66
1864.11	1028	197.82	1.62	0.00	2540.2	2592.6	2487.8	2009.4	3488.6	114.66	11.18	282	1873.30	0.00	0.00	3.63	0.000	0.000	0.082	2538.09	2589.88	2486.31	2008.50	2011.56	0	0	0	30.00	30.00	15.75
2059.41	8354	206.99	1.69	0.00	2538.5	2592.6	2484.4	2009.2	2011.6	95.54	9.58	302	2074.83	9.58	0.00	0.00	1.079	0.000	0.000	2502.47	2555.56	2449.38	2009.19	2010.94	0	0	0	12.02	30.00	30.00
2260.34	8614	214.44	1.76	80.00	2503.4	2558.2	2448.6	2009.4	2010.8	76.07	9.65	322	2280.00	9.22	0.00	3.85	1.056	0.000	0.144	2473.31	2527.12	2419.50	2009.06	3488.69	0	0	0	12.00	30.00	15.67
2360.68	3205	214.44	1.81	0.00	2474.0	2528.6	2419.4	2009.3	3487.7	65.94	10.51	341	2370.01	0.00	0.18	3.61	0.000	0.078	0.082	2472.25	2527.12	2417.38	2057.12	2010.44	0	0	0	30.00	15.81	15.78
2555.70	388	214.44	1.85	80.00	2472.7	2527.9	2417.4	2056.6	2010.6	45.95	10.17	364	2564.59	0.00	0.00	3.80	0.000	0.000	0.141	2469.91	2525.38	2414.44	2056.44	3490.19	0	0	0	30.00	30.00	15.88
2623.42	1028	214.44	1.85	0.00	2472.8	2528.4	2417.2	2056.3	3490.0	38.34	11.32	377	2632.33	0.00	0.00	3.57	0.000	0.000	0.083	2471.44	2526.56	2416.31	2056.69	2009.69	0	0	0	30.00	30.00	15.92
2816.29	8614	231.44	1.91	80.00	2472.2	2527.5	2416.9	2056.1	2009.7	19.55	9.21	415	2845.92	17.68	0.00	3.80	1.172	0.000	0.143	2404.38	2461.81	2346.94	2057.50	3488.44	0	0	0	11.96	30.00	15.90
2899.74	9254	240.42	1.93	0.00	2404.2	2462.2	2346.2	2057.4	3489.4	11.65	9.58	431	2919.71	10.20	0.00	3.56	1.064	0.000	0.081	2365.88	2425.44	2306.31	2056.88	2011.06	0	0	0	12.18	30.00	15.94
3105.24	10919	429.52	2.26	-80.00	2366.8	2428.1	2305.4	2057.2	2011.0	5.41	1.24	471	3181.81	68.21	0.56	0.00	1.210	0.055	0.000	2052.66	2121.19	1984.12	2164.06	2010.69	0	0	0	12.00	15.99	30.00
3182	end climb: NO_VERTICAL_VELOCITY
state	3183	begin surface