Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 27 * 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 27 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 40 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 1.9466312 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.147877 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 40 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 1.9466312 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.147877 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 27 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 260623,204628,4736.602,-12256.452,21,1.6,27,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,204958,4736.624,-12256.404,2,1.1,5,15.4 MHEAD_RNG_PITCHd_Wd 189.6,1341,-17.6,-10.000,-21.21,2209,0.166

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S 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 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230626213801.117216,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,15.3,8.79,-100,-5.79,-01,-0.04,74,10000,5000,0,1,00,00*52 _24V_AH 14.81,15.252

NAV 1687814836,54.8,3,stop _10V_AH 14.83,0.000

NET_PING 1687815460,29,177.697495,15.500000,-0.235628 FG_AHR_24Vo 14.398

MODEM_MSG CACST,8,1,20230626212500.138446,18,30560,44,0219,0000,07,01,01,00,02,-1,-01,-01,1,3,0,0,150,-0.2,-0.25,-100,3.25,-01,1.91,57,925,0025,0,-1,00,00*0E FG_AHR_10Vo 2.001

FREEZE 6.21,13.521,-1.545,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3256.17,356.68,1.174,0,500.8,528.3,473.2,698.92 MEM2 930472,24,116056,78

SM_GC 2.55,0.00,11.83,0.06,0.000,0.060,0.203,497.8,524.8,470.7,192.6,2039.9,0,0,0,30.00,15.58,15.56 DATA_FILE_SIZE 9724,401

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 185290,0

IRIDIUM_FIX 4735.53,-12254.47,260623,195050 SDSIZE 3887104,3864032

TCM_TEMP -86.23 SDFILEDIR 263,28

SC_FREEKB 3870144 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 0,1687813200,47.60500,-122.95000,0.349,511.4 CURRENT 0.056, 38.9,1

RAFOS_FIX 4736.200684,-12257.193359,260623,212100,3,255,0.60 MAGCAL 1.000000,0.064432,-0.213110,-0.060157,1.116458,0.091871,0.275066,-0.190743,1.046655,-65.0,-1285.2,-816.1,36,0.0765,0

HUMID 52.23 IMPLIED_C_PITCH 1770,13.38,189,0.0,0.00

TEMP 11.08 IMPLIED_C_VBD 3319,11.578005,189,0

INTERNAL_PRESSURE 7.99089 GPS 260623,214701,4736.375,-12256.575,61,0.7,61,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 800 1330 15784.67 nil 0 0 0.00

Pitch_motor 24 249 91.39 nil 0 0 0.00

Roll_motor 59 332 290.63 nil 0 0 0.00

Iridium 141 145 306.36 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 1962 5 149.01 SciCon 2868 6 274.21

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1141 0 5.42

Compass 835 5 61.98

RAFOS 1691 40 1003.67

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

6.77 16386 -146.63 -1.44 0.00 494.2 517.1 471.3 187.6 2037.4 0.00 0.00 0 199.09 98.68 0.00 0.05 0.005 0.000 0.332 3949.00 3943.31 3954.69 187.88 2010.81 0 0 0 15.81 30.00 15.82

199.63 2341 -146.63 -1.44 80.00 3950.3 3946.4 3954.3 187.9 2010.9 35.10 0.00 1 222.47 0.00 7.87 3.70 0.000 0.249 0.125 3951.75 3948.88 3954.62 1253.75 3492.50 0 0 0 30.00 15.79 15.86

326.22 3205 -146.63 -1.25 0.00 3952.2 3950.1 3954.2 1253.4 3493.0 66.45 -16.79 25 335.10 0.00 0.29 3.53 0.000 0.190 0.079 3951.75 3950.12 3953.38 1298.12 2009.06 0 0 0 30.00 15.88 15.91

531.38 388 -146.63 -1.16 80.00 3953.2 3952.6 3953.8 1297.9 2009.1 92.65 -12.87 45 542.80 0.00 0.00 3.73 0.000 0.000 0.133 3953.34 3953.19 3953.50 1299.25 3490.62 0 0 0 30.00 30.00 15.96

685.91 3205 -146.63 -1.03 0.00 3953.9 3954.2 3953.6 1299.1 3490.0 117.75 -15.27 76 695.64 0.00 0.35 3.52 0.000 0.174 0.080 3953.75 3953.44 3954.06 1353.06 2009.69 0 0 0 30.00 15.96 15.99

879.43 388 -146.63 -0.98 80.00 3954.3 3955.1 3953.6 1353.1 2009.9 139.37 -10.98 96 888.33 0.00 0.00 3.71 0.000 0.000 0.137 3954.28 3954.69 3953.88 1353.56 3488.56 0 0 0 30.00 30.00 16.01

967 end dive: TARGET_DEPTH_EXCEEDED

state 967 begin apogee

975.05 10243 0.00 -0.36 0.00 3954.3 3955.1 3953.6 1353.1 2010.1 150.24 -12.69 113 1111.57 117.72 1.07 0.05 1.331 0.148 0.300 3349.53 3387.62 3311.44 1516.25 2039.31 0 0 0 12.11 16.00 15.51

1113 end apogee: CONTROL_FINISHED_OK

state 1113 begin climb

1113.12 10759 146.63 1.44 -80.00 3348.2 3385.9 3310.4 1516.6 2038.2 157.99 0.00 126 1267.36 125.39 2.85 4.22 1.293 0.109 0.184 2750.09 2798.31 2701.88 1952.00 559.81 0 0 0 11.91 15.54 15.33

1280.61 9382 186.02 1.53 0.00 2748.7 2795.4 2702.0 1952.3 559.8 149.70 8.18 155 1328.02 35.31 0.00 3.66 1.245 0.000 0.076 2589.12 2641.94 2536.31 1951.88 2040.50 0 0 0 11.72 30.00 15.50

1511.95 10663 224.52 1.67 80.00 2585.6 2636.9 2534.4 1952.1 2040.1 130.43 8.22 182 1558.70 33.86 0.31 3.77 1.248 0.064 0.146 2433.69 2491.56 2375.81 2022.31 3489.31 0 0 0 11.94 15.75 15.61

1641.67 1028 224.52 1.67 0.00 2430.7 2489.2 2372.1 2021.8 3488.9 115.42 12.27 207 1650.32 0.00 0.00 3.61 0.000 0.000 0.081 2430.22 2488.88 2371.56 2022.50 2009.62 0 0 0 30.00 30.00 15.73

1837.64 388 224.52 1.73 80.00 2429.0 2488.4 2369.7 2022.2 2009.8 93.97 10.80 227 1846.76 0.00 0.00 3.79 0.000 0.000 0.140 2428.75 2488.12 2369.38 2021.94 3490.00 0 0 0 30.00 30.00 15.83

1889.90 1156 224.52 1.76 0.00 2428.7 2487.6 2369.8 2021.6 3490.1 87.63 12.06 237 1898.28 0.00 0.00 3.57 0.000 0.000 0.080 2428.69 2488.81 2368.56 2022.31 2010.62 0 0 0 30.00 30.00 15.86

2085.87 8614 233.10 1.84 80.00 2427.9 2486.9 2369.0 2022.2 2011.0 68.10 9.60 257 2105.92 9.47 0.00 3.77 1.066 0.000 0.142 2399.72 2459.94 2339.50 2022.00 3490.25 0 0 0 12.07 30.00 15.87

2164.83 3205 233.10 1.88 0.00 2398.2 2456.2 2340.3 2022.4 3489.1 59.80 10.79 272 2174.16 0.00 0.20 3.54 0.000 0.071 0.080 2399.56 2456.69 2342.44 2070.56 2010.81 0 0 0 30.00 15.92 15.90

2359.87 128 233.10 1.92 0.00 2397.4 2455.9 2338.9 2071.3 2010.5 37.52 11.25 302 2363.75 0.00 0.00 0.00 0.000 0.000 0.000 2396.31 2454.81 2337.81 2071.31 2010.94 0 0 0 30.00 30.00 30.00

2544.88 388 233.10 1.96 80.00 2397.1 2455.9 2338.2 2071.2 2011.3 18.01 10.01 339 2553.77 0.00 0.00 3.73 0.000 0.000 0.140 2396.03 2454.38 2337.69 2071.00 3490.75 0 0 0 30.00 30.00 16.01

2652.69 9254 258.08 1.99 0.00 2396.4 2454.9 2337.9 2071.2 3490.5 7.16 8.84 360 2687.85 23.78 0.00 3.53 1.186 0.000 0.079 2297.25 2358.50 2236.00 2071.81 2008.50 0 0 0 12.27 30.00 16.04

2863 end climb: NO_VERTICAL_VELOCITY

state 2863 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	27	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	40	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	1.9466312	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.147877	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	260623,204628,4736.602,-12256.452,21,1.6,27,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,204958,4736.624,-12256.404,2,1.1,5,15.4	MHEAD_RNG_PITCHd_Wd	189.6,1341,-17.6,-10.000,-21.21,2209,0.166
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000266

NET	CACST,8,0,20230626213801.117216,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,15.3,8.79,-100,-5.79,-01,-0.04,74,10000,5000,0,1,00,00*52	_24V_AH	14.81,15.252
NAV	1687814836,54.8,3,stop	_10V_AH	14.83,0.000
NET_PING	1687815460,29,177.697495,15.500000,-0.235628	FG_AHR_24Vo	14.398
MODEM_MSG	CACST,8,1,20230626212500.138446,18,30560,44,0219,0000,07,01,01,00,02,-1,-01,-01,1,3,0,0,150,-0.2,-0.25,-100,3.25,-01,1.91,57,925,0025,0,-1,00,00*0E	FG_AHR_10Vo	2.001
FREEZE	6.21,13.521,-1.545,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3256.17,356.68,1.174,0,500.8,528.3,473.2,698.92	MEM2	930472,24,116056,78
SM_GC	2.55,0.00,11.83,0.06,0.000,0.060,0.203,497.8,524.8,470.7,192.6,2039.9,0,0,0,30.00,15.58,15.56	DATA_FILE_SIZE	9724,401
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	185290,0
IRIDIUM_FIX	4735.53,-12254.47,260623,195050	SDSIZE	3887104,3864032
TCM_TEMP	-86.23	SDFILEDIR	263,28
SC_FREEKB	3870144	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	0,1687813200,47.60500,-122.95000,0.349,511.4	CURRENT	0.056, 38.9,1
RAFOS_FIX	4736.200684,-12257.193359,260623,212100,3,255,0.60	MAGCAL	1.000000,0.064432,-0.213110,-0.060157,1.116458,0.091871,0.275066,-0.190743,1.046655,-65.0,-1285.2,-816.1,36,0.0765,0
HUMID	52.23	IMPLIED_C_PITCH	1770,13.38,189,0.0,0.00
TEMP	11.08	IMPLIED_C_VBD	3319,11.578005,189,0
INTERNAL_PRESSURE	7.99089	GPS	260623,214701,4736.375,-12256.575,61,0.7,61,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	800	1330	15784.67	nil	0	0	0.00
Pitch_motor	24	249	91.39	nil	0	0	0.00
Roll_motor	59	332	290.63	nil	0	0	0.00
Iridium	141	145	306.36	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	1962	5	149.01	SciCon	2868	6	274.21
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1141	0	5.42
Compass	835	5	61.98
RAFOS	1691	40	1003.67
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
6.77	16386	-146.63	-1.44	0.00	494.2	517.1	471.3	187.6	2037.4	0.00	0.00	0	199.09	98.68	0.00	0.05	0.005	0.000	0.332	3949.00	3943.31	3954.69	187.88	2010.81	0	0	0	15.81	30.00	15.82
199.63	2341	-146.63	-1.44	80.00	3950.3	3946.4	3954.3	187.9	2010.9	35.10	0.00	1	222.47	0.00	7.87	3.70	0.000	0.249	0.125	3951.75	3948.88	3954.62	1253.75	3492.50	0	0	0	30.00	15.79	15.86
326.22	3205	-146.63	-1.25	0.00	3952.2	3950.1	3954.2	1253.4	3493.0	66.45	-16.79	25	335.10	0.00	0.29	3.53	0.000	0.190	0.079	3951.75	3950.12	3953.38	1298.12	2009.06	0	0	0	30.00	15.88	15.91
531.38	388	-146.63	-1.16	80.00	3953.2	3952.6	3953.8	1297.9	2009.1	92.65	-12.87	45	542.80	0.00	0.00	3.73	0.000	0.000	0.133	3953.34	3953.19	3953.50	1299.25	3490.62	0	0	0	30.00	30.00	15.96
685.91	3205	-146.63	-1.03	0.00	3953.9	3954.2	3953.6	1299.1	3490.0	117.75	-15.27	76	695.64	0.00	0.35	3.52	0.000	0.174	0.080	3953.75	3953.44	3954.06	1353.06	2009.69	0	0	0	30.00	15.96	15.99
879.43	388	-146.63	-0.98	80.00	3954.3	3955.1	3953.6	1353.1	2009.9	139.37	-10.98	96	888.33	0.00	0.00	3.71	0.000	0.000	0.137	3954.28	3954.69	3953.88	1353.56	3488.56	0	0	0	30.00	30.00	16.01
967	end dive: TARGET_DEPTH_EXCEEDED
state	967	begin apogee
975.05	10243	0.00	-0.36	0.00	3954.3	3955.1	3953.6	1353.1	2010.1	150.24	-12.69	113	1111.57	117.72	1.07	0.05	1.331	0.148	0.300	3349.53	3387.62	3311.44	1516.25	2039.31	0	0	0	12.11	16.00	15.51
1113	end apogee: CONTROL_FINISHED_OK
state	1113	begin climb
1113.12	10759	146.63	1.44	-80.00	3348.2	3385.9	3310.4	1516.6	2038.2	157.99	0.00	126	1267.36	125.39	2.85	4.22	1.293	0.109	0.184	2750.09	2798.31	2701.88	1952.00	559.81	0	0	0	11.91	15.54	15.33
1280.61	9382	186.02	1.53	0.00	2748.7	2795.4	2702.0	1952.3	559.8	149.70	8.18	155	1328.02	35.31	0.00	3.66	1.245	0.000	0.076	2589.12	2641.94	2536.31	1951.88	2040.50	0	0	0	11.72	30.00	15.50
1511.95	10663	224.52	1.67	80.00	2585.6	2636.9	2534.4	1952.1	2040.1	130.43	8.22	182	1558.70	33.86	0.31	3.77	1.248	0.064	0.146	2433.69	2491.56	2375.81	2022.31	3489.31	0	0	0	11.94	15.75	15.61
1641.67	1028	224.52	1.67	0.00	2430.7	2489.2	2372.1	2021.8	3488.9	115.42	12.27	207	1650.32	0.00	0.00	3.61	0.000	0.000	0.081	2430.22	2488.88	2371.56	2022.50	2009.62	0	0	0	30.00	30.00	15.73
1837.64	388	224.52	1.73	80.00	2429.0	2488.4	2369.7	2022.2	2009.8	93.97	10.80	227	1846.76	0.00	0.00	3.79	0.000	0.000	0.140	2428.75	2488.12	2369.38	2021.94	3490.00	0	0	0	30.00	30.00	15.83
1889.90	1156	224.52	1.76	0.00	2428.7	2487.6	2369.8	2021.6	3490.1	87.63	12.06	237	1898.28	0.00	0.00	3.57	0.000	0.000	0.080	2428.69	2488.81	2368.56	2022.31	2010.62	0	0	0	30.00	30.00	15.86
2085.87	8614	233.10	1.84	80.00	2427.9	2486.9	2369.0	2022.2	2011.0	68.10	9.60	257	2105.92	9.47	0.00	3.77	1.066	0.000	0.142	2399.72	2459.94	2339.50	2022.00	3490.25	0	0	0	12.07	30.00	15.87
2164.83	3205	233.10	1.88	0.00	2398.2	2456.2	2340.3	2022.4	3489.1	59.80	10.79	272	2174.16	0.00	0.20	3.54	0.000	0.071	0.080	2399.56	2456.69	2342.44	2070.56	2010.81	0	0	0	30.00	15.92	15.90
2359.87	128	233.10	1.92	0.00	2397.4	2455.9	2338.9	2071.3	2010.5	37.52	11.25	302	2363.75	0.00	0.00	0.00	0.000	0.000	0.000	2396.31	2454.81	2337.81	2071.31	2010.94	0	0	0	30.00	30.00	30.00
2544.88	388	233.10	1.96	80.00	2397.1	2455.9	2338.2	2071.2	2011.3	18.01	10.01	339	2553.77	0.00	0.00	3.73	0.000	0.000	0.140	2396.03	2454.38	2337.69	2071.00	3490.75	0	0	0	30.00	30.00	16.01
2652.69	9254	258.08	1.99	0.00	2396.4	2454.9	2337.9	2071.2	3490.5	7.16	8.84	360	2687.85	23.78	0.00	3.53	1.186	0.000	0.079	2297.25	2358.50	2236.00	2071.81	2008.50	0	0	0	12.27	30.00	16.04
2863	end climb: NO_VERTICAL_VELOCITY
state	2863	begin surface