Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 28 * 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 28 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 2.0060332 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.403892 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 2.0060332 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.403892 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 28 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 260623,214701,4736.375,-12256.575,61,0.7,61,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,215025,4736.399,-12256.520,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 190.9,901,-17.6,-10.000,-21.21,2209,0.139

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 8000307

Post-dive calculations and measurements:

NET CACST,8,1,20230626223753.323402,18,27760,44,0121,0112,07,01,01,00,01,-1,-01,-01,1,3,302,0,150,10.6,0.66,-100,2.34,-01,-0.91,57,10000,5000,0,-1,00,00*7B _10V_AH 14.96,0.000

NAV 1687820063,0.1,0,stop FG_AHR_24Vo 14.657

MODEM_MSG CACST,8,0,20230626222500.260677,18,32767,39,0100,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,5.1,7.71,-100,-4.71,-01,0.18,72,925,0025,0,1,00,00*14 FG_AHR_10Vo 2.046

FREEZE 4.90,13.907,-1.528,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3689.73,326.14,1.170,0,500.8,526.1,475.6,698.90 MEM2 945428,28,101100,74

SM_GC 1.57,0.00,12.55,0.06,0.000,0.053,0.202,478.4,484.3,472.5,192.8,2039.7,0,0,0,30.00,15.55,15.55 DATA_FILE_SIZE 12956,507

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 204288,0

IRIDIUM_FIX 4736.87,-12256.21,260623,204745 SDSIZE 3887104,3863680

TCM_TEMP -86.33 SDFILEDIR 271,29

SC_FREEKB 3869824 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1687816800,47.60500,-122.95000,0.158,231.3 CURRENT 0.041, 45.4,1

RAFOS_FIX 4736.027832,-12256.736328,260623,222200,4,255,0.63 MAGCAL 1.000000,0.044760,-0.305914,-0.134641,1.111550,-0.012937,0.433602,-0.160293,1.330476,-22.8,-1196.1,-962.5,28,0.1084,0

HUMID 52.53 IMPLIED_C_PITCH 1758,13.02,237,0.0,0.00

TEMP 11.26 IMPLIED_C_VBD 3290,17.408903,237,0

INTERNAL_PRESSURE 8.00102 GPS 260623,225448,4736.090,-12256.705,0,1.7,3,15.4

_24V_AH 14.91,15.539

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 801 1347 16112.51 nil 0 0 0.00

Pitch_motor 26 252 98.41 nil 0 0 0.00

Roll_motor 73 295 324.75 nil 0 0 0.00

Iridium 137 156 321.76 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.11 nil 0 0 0.00

Core 2186 5 167.47 SciCon 3336 6 321.75

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1438 0 6.89

Compass 1062 5 79.50

RAFOS 2316 40 1386.25

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

7.01 16386 -146.63 -1.44 0.00 495.0 518.8 471.2 189.2 2010.8 0.00 0.00 0 56.53 44.78 0.00 0.00 0.005 0.000 0.000 1849.62 1868.44 1830.81 189.00 2011.06 0 0 0 15.87 30.00 30.00

57.07 18727 -146.63 -1.44 80.00 1850.1 1869.2 1830.9 189.4 2011.2 3.51 -5.71 9 140.63 54.09 7.89 3.73 0.005 0.252 0.134 3949.38 3954.50 3944.25 1253.38 3492.88 0 0 0 15.30 15.77 15.83

144.34 3205 -146.63 -1.22 0.00 3950.2 3955.9 3944.4 1253.6 3493.4 11.03 -13.38 24 153.01 0.00 0.35 3.56 0.000 0.199 0.077 3950.00 3956.31 3943.69 1305.75 2008.44 0 0 0 30.00 15.84 15.87

336.82 2437 -146.63 -1.11 80.00 3951.2 3958.2 3944.2 1305.6 2009.0 38.50 -13.21 62 345.77 0.00 0.17 3.74 0.000 0.185 0.132 3951.28 3957.88 3944.69 1333.38 3489.75 0 0 0 30.00 15.93 15.94

389.63 3205 -146.63 -0.99 0.00 3951.6 3959.2 3944.1 1334.1 3488.7 45.91 -14.30 72 398.40 0.00 0.17 3.52 0.000 0.182 0.078 3951.06 3958.25 3943.88 1361.94 2010.12 0 0 0 30.00 15.94 15.96

581.62 388 -146.63 -0.94 80.00 3951.3 3958.8 3943.9 1361.9 2009.3 67.84 -11.38 94 590.50 0.00 0.00 3.73 0.000 0.000 0.134 3951.53 3958.06 3945.00 1363.06 3491.56 0 0 0 30.00 30.00 15.98

679.37 3205 -146.63 -0.86 0.00 3951.9 3959.8 3944.1 1363.2 3491.4 80.72 -13.25 113 688.37 0.00 0.19 3.52 0.000 0.184 0.079 3951.69 3959.19 3944.19 1392.00 2008.75 0 0 0 30.00 15.99 16.01

874.34 260 -146.63 -0.86 80.00 3952.8 3961.4 3944.2 1391.9 2009.2 100.97 -10.03 133 883.28 0.00 0.00 3.73 0.000 0.000 0.135 3935.88 3927.62 3944.12 1391.69 3489.44 0 0 0 30.00 30.00 16.02

956.35 1156 -146.63 -0.83 0.00 3952.9 3961.3 3944.5 1393.1 3488.9 110.34 -11.64 149 964.53 0.00 0.00 3.55 0.000 0.000 0.080 3952.78 3961.69 3943.88 1392.56 2009.88 0 0 0 30.00 30.00 16.02

1152.10 292 -146.63 -0.83 80.00 3953.2 3962.1 3944.2 1392.9 2010.2 129.38 -9.65 169 1161.28 0.00 0.00 3.71 0.000 0.000 0.136 3952.62 3961.44 3943.81 1392.81 3489.25 0 0 0 30.00 30.00 16.03

1250.23 1156 -146.63 -0.80 0.00 3953.2 3962.1 3944.3 1392.9 3489.4 139.99 -11.07 188 1259.11 0.00 0.00 3.52 0.000 0.000 0.081 3953.69 3962.50 3944.88 1392.62 2008.88 0 0 0 30.00 30.00 16.04

1355 end dive: TARGET_DEPTH_EXCEEDED

state 1355 begin apogee

1356.84 10243 0.00 -0.36 0.00 3953.5 3963.3 3943.7 1393.1 2041.4 150.31 -9.58 199 1488.24 117.06 0.79 0.07 1.348 0.133 0.296 3349.56 3388.25 3310.88 1515.81 2010.69 0 0 0 12.05 16.05 15.60

1489 end apogee: CONTROL_FINISHED_OK

state 1489 begin climb

1489.81 10759 146.63 1.44 -80.00 3348.3 3387.1 3309.5 1516.6 2010.8 156.77 0.00 211 1642.09 123.66 2.82 4.09 1.307 0.109 0.185 2752.19 2801.50 2702.88 1950.94 562.25 0 0 0 11.84 15.63 15.39

1725.33 9382 173.38 1.52 0.00 2745.8 2791.1 2700.6 1951.8 562.4 142.97 8.76 254 1760.50 24.35 0.00 3.62 1.234 0.000 0.075 2641.62 2692.06 2591.19 1951.69 2039.50 0 0 0 11.83 30.00 15.65

1944.41 10663 220.40 1.66 80.00 2637.5 2687.9 2587.1 1951.9 2039.9 126.43 7.82 279 1998.01 39.97 0.31 3.76 1.274 0.067 0.146 2449.91 2506.38 2393.44 2021.56 3489.81 0 0 0 11.98 15.78 15.61

2101.17 1156 220.40 1.70 0.00 2446.8 2504.6 2389.1 2021.7 3489.9 108.96 11.70 309 2109.66 0.00 0.00 3.61 0.000 0.000 0.082 2446.25 2504.25 2388.25 2022.25 2010.62 0 0 0 30.00 30.00 15.75

2297.04 420 221.80 1.76 80.00 2445.5 2504.3 2386.7 2021.9 2011.0 88.96 9.94 329 2306.04 0.00 0.00 3.79 0.000 0.000 0.140 2441.97 2500.62 2383.31 2022.00 3490.19 0 0 0 30.00 30.00 15.86

2359.17 1156 221.80 1.80 0.00 2445.0 2503.4 2386.6 2021.8 3490.6 82.07 11.17 341 2367.53 0.00 0.00 3.57 0.000 0.000 0.082 2443.81 2501.94 2385.69 2022.38 2010.81 0 0 0 30.00 30.00 15.90

2555.05 10663 230.57 1.88 80.00 2444.1 2502.3 2385.9 2022.4 2010.9 62.95 9.59 361 2578.76 10.88 0.20 3.77 1.110 0.077 0.141 2408.91 2468.06 2349.75 2071.31 3489.81 0 0 0 12.06 16.01 15.92

2627.49 1028 230.57 1.88 0.00 2408.5 2466.4 2350.5 2070.8 3490.1 54.10 12.74 375 2636.56 0.00 0.00 3.54 0.000 0.000 0.082 2408.69 2466.50 2350.88 2070.81 2007.81 0 0 0 30.00 30.00 15.95

2822.20 388 230.57 1.91 80.00 2407.7 2466.1 2349.2 2071.0 2007.6 33.09 10.52 409 2833.69 0.00 0.00 3.76 0.000 0.000 0.139 2406.28 2464.88 2347.69 2071.25 3488.81 0 0 0 30.00 30.00 15.98

2882.41 1028 230.57 1.91 0.00 2407.8 2466.6 2348.9 2071.4 3489.2 26.14 11.55 421 2891.27 0.00 0.00 3.55 0.000 0.000 0.082 2405.91 2466.19 2345.62 2071.25 2008.25 0 0 0 30.00 30.00 16.00

3075.21 8354 278.50 2.03 0.00 2407.1 2465.6 2348.6 2071.1 2008.6 8.08 7.78 459 3124.59 43.53 0.00 0.00 1.220 0.000 0.000 2212.88 2276.62 2149.12 2071.50 2008.44 0 0 0 11.95 30.00 30.00

3307.80 10663 497.42 2.42 80.00 2207.5 2272.7 2142.3 2071.4 2008.2 4.97 -0.14 503 3329.49 17.48 0.71 0.00 1.153 0.054 0.000 2139.38 2203.94 2074.81 2200.88 2008.94 0 0 0 11.95 15.96 30.00

3330 end climb: NO_VERTICAL_VELOCITY

state 3330 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	28	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	2.0060332	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.403892	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	260623,214701,4736.375,-12256.575,61,0.7,61,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,215025,4736.399,-12256.520,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	190.9,901,-17.6,-10.000,-21.21,2209,0.139
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	8000307

NET	CACST,8,1,20230626223753.323402,18,27760,44,0121,0112,07,01,01,00,01,-1,-01,-01,1,3,302,0,150,10.6,0.66,-100,2.34,-01,-0.91,57,10000,5000,0,-1,00,00*7B	_10V_AH	14.96,0.000
NAV	1687820063,0.1,0,stop	FG_AHR_24Vo	14.657
MODEM_MSG	CACST,8,0,20230626222500.260677,18,32767,39,0100,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,5.1,7.71,-100,-4.71,-01,0.18,72,925,0025,0,1,00,00*14	FG_AHR_10Vo	2.046
FREEZE	4.90,13.907,-1.528,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3689.73,326.14,1.170,0,500.8,526.1,475.6,698.90	MEM2	945428,28,101100,74
SM_GC	1.57,0.00,12.55,0.06,0.000,0.053,0.202,478.4,484.3,472.5,192.8,2039.7,0,0,0,30.00,15.55,15.55	DATA_FILE_SIZE	12956,507
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	204288,0
IRIDIUM_FIX	4736.87,-12256.21,260623,204745	SDSIZE	3887104,3863680
TCM_TEMP	-86.33	SDFILEDIR	271,29
SC_FREEKB	3869824	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1687816800,47.60500,-122.95000,0.158,231.3	CURRENT	0.041, 45.4,1
RAFOS_FIX	4736.027832,-12256.736328,260623,222200,4,255,0.63	MAGCAL	1.000000,0.044760,-0.305914,-0.134641,1.111550,-0.012937,0.433602,-0.160293,1.330476,-22.8,-1196.1,-962.5,28,0.1084,0
HUMID	52.53	IMPLIED_C_PITCH	1758,13.02,237,0.0,0.00
TEMP	11.26	IMPLIED_C_VBD	3290,17.408903,237,0
INTERNAL_PRESSURE	8.00102	GPS	260623,225448,4736.090,-12256.705,0,1.7,3,15.4
_24V_AH	14.91,15.539

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	801	1347	16112.51	nil	0	0	0.00
Pitch_motor	26	252	98.41	nil	0	0	0.00
Roll_motor	73	295	324.75	nil	0	0	0.00
Iridium	137	156	321.76	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.11	nil	0	0	0.00
Core	2186	5	167.47	SciCon	3336	6	321.75
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1438	0	6.89
Compass	1062	5	79.50
RAFOS	2316	40	1386.25
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
7.01	16386	-146.63	-1.44	0.00	495.0	518.8	471.2	189.2	2010.8	0.00	0.00	0	56.53	44.78	0.00	0.00	0.005	0.000	0.000	1849.62	1868.44	1830.81	189.00	2011.06	0	0	0	15.87	30.00	30.00
57.07	18727	-146.63	-1.44	80.00	1850.1	1869.2	1830.9	189.4	2011.2	3.51	-5.71	9	140.63	54.09	7.89	3.73	0.005	0.252	0.134	3949.38	3954.50	3944.25	1253.38	3492.88	0	0	0	15.30	15.77	15.83
144.34	3205	-146.63	-1.22	0.00	3950.2	3955.9	3944.4	1253.6	3493.4	11.03	-13.38	24	153.01	0.00	0.35	3.56	0.000	0.199	0.077	3950.00	3956.31	3943.69	1305.75	2008.44	0	0	0	30.00	15.84	15.87
336.82	2437	-146.63	-1.11	80.00	3951.2	3958.2	3944.2	1305.6	2009.0	38.50	-13.21	62	345.77	0.00	0.17	3.74	0.000	0.185	0.132	3951.28	3957.88	3944.69	1333.38	3489.75	0	0	0	30.00	15.93	15.94
389.63	3205	-146.63	-0.99	0.00	3951.6	3959.2	3944.1	1334.1	3488.7	45.91	-14.30	72	398.40	0.00	0.17	3.52	0.000	0.182	0.078	3951.06	3958.25	3943.88	1361.94	2010.12	0	0	0	30.00	15.94	15.96
581.62	388	-146.63	-0.94	80.00	3951.3	3958.8	3943.9	1361.9	2009.3	67.84	-11.38	94	590.50	0.00	0.00	3.73	0.000	0.000	0.134	3951.53	3958.06	3945.00	1363.06	3491.56	0	0	0	30.00	30.00	15.98
679.37	3205	-146.63	-0.86	0.00	3951.9	3959.8	3944.1	1363.2	3491.4	80.72	-13.25	113	688.37	0.00	0.19	3.52	0.000	0.184	0.079	3951.69	3959.19	3944.19	1392.00	2008.75	0	0	0	30.00	15.99	16.01
874.34	260	-146.63	-0.86	80.00	3952.8	3961.4	3944.2	1391.9	2009.2	100.97	-10.03	133	883.28	0.00	0.00	3.73	0.000	0.000	0.135	3935.88	3927.62	3944.12	1391.69	3489.44	0	0	0	30.00	30.00	16.02
956.35	1156	-146.63	-0.83	0.00	3952.9	3961.3	3944.5	1393.1	3488.9	110.34	-11.64	149	964.53	0.00	0.00	3.55	0.000	0.000	0.080	3952.78	3961.69	3943.88	1392.56	2009.88	0	0	0	30.00	30.00	16.02
1152.10	292	-146.63	-0.83	80.00	3953.2	3962.1	3944.2	1392.9	2010.2	129.38	-9.65	169	1161.28	0.00	0.00	3.71	0.000	0.000	0.136	3952.62	3961.44	3943.81	1392.81	3489.25	0	0	0	30.00	30.00	16.03
1250.23	1156	-146.63	-0.80	0.00	3953.2	3962.1	3944.3	1392.9	3489.4	139.99	-11.07	188	1259.11	0.00	0.00	3.52	0.000	0.000	0.081	3953.69	3962.50	3944.88	1392.62	2008.88	0	0	0	30.00	30.00	16.04
1355	end dive: TARGET_DEPTH_EXCEEDED
state	1355	begin apogee
1356.84	10243	0.00	-0.36	0.00	3953.5	3963.3	3943.7	1393.1	2041.4	150.31	-9.58	199	1488.24	117.06	0.79	0.07	1.348	0.133	0.296	3349.56	3388.25	3310.88	1515.81	2010.69	0	0	0	12.05	16.05	15.60
1489	end apogee: CONTROL_FINISHED_OK
state	1489	begin climb
1489.81	10759	146.63	1.44	-80.00	3348.3	3387.1	3309.5	1516.6	2010.8	156.77	0.00	211	1642.09	123.66	2.82	4.09	1.307	0.109	0.185	2752.19	2801.50	2702.88	1950.94	562.25	0	0	0	11.84	15.63	15.39
1725.33	9382	173.38	1.52	0.00	2745.8	2791.1	2700.6	1951.8	562.4	142.97	8.76	254	1760.50	24.35	0.00	3.62	1.234	0.000	0.075	2641.62	2692.06	2591.19	1951.69	2039.50	0	0	0	11.83	30.00	15.65
1944.41	10663	220.40	1.66	80.00	2637.5	2687.9	2587.1	1951.9	2039.9	126.43	7.82	279	1998.01	39.97	0.31	3.76	1.274	0.067	0.146	2449.91	2506.38	2393.44	2021.56	3489.81	0	0	0	11.98	15.78	15.61
2101.17	1156	220.40	1.70	0.00	2446.8	2504.6	2389.1	2021.7	3489.9	108.96	11.70	309	2109.66	0.00	0.00	3.61	0.000	0.000	0.082	2446.25	2504.25	2388.25	2022.25	2010.62	0	0	0	30.00	30.00	15.75
2297.04	420	221.80	1.76	80.00	2445.5	2504.3	2386.7	2021.9	2011.0	88.96	9.94	329	2306.04	0.00	0.00	3.79	0.000	0.000	0.140	2441.97	2500.62	2383.31	2022.00	3490.19	0	0	0	30.00	30.00	15.86
2359.17	1156	221.80	1.80	0.00	2445.0	2503.4	2386.6	2021.8	3490.6	82.07	11.17	341	2367.53	0.00	0.00	3.57	0.000	0.000	0.082	2443.81	2501.94	2385.69	2022.38	2010.81	0	0	0	30.00	30.00	15.90
2555.05	10663	230.57	1.88	80.00	2444.1	2502.3	2385.9	2022.4	2010.9	62.95	9.59	361	2578.76	10.88	0.20	3.77	1.110	0.077	0.141	2408.91	2468.06	2349.75	2071.31	3489.81	0	0	0	12.06	16.01	15.92
2627.49	1028	230.57	1.88	0.00	2408.5	2466.4	2350.5	2070.8	3490.1	54.10	12.74	375	2636.56	0.00	0.00	3.54	0.000	0.000	0.082	2408.69	2466.50	2350.88	2070.81	2007.81	0	0	0	30.00	30.00	15.95
2822.20	388	230.57	1.91	80.00	2407.7	2466.1	2349.2	2071.0	2007.6	33.09	10.52	409	2833.69	0.00	0.00	3.76	0.000	0.000	0.139	2406.28	2464.88	2347.69	2071.25	3488.81	0	0	0	30.00	30.00	15.98
2882.41	1028	230.57	1.91	0.00	2407.8	2466.6	2348.9	2071.4	3489.2	26.14	11.55	421	2891.27	0.00	0.00	3.55	0.000	0.000	0.082	2405.91	2466.19	2345.62	2071.25	2008.25	0	0	0	30.00	30.00	16.00
3075.21	8354	278.50	2.03	0.00	2407.1	2465.6	2348.6	2071.1	2008.6	8.08	7.78	459	3124.59	43.53	0.00	0.00	1.220	0.000	0.000	2212.88	2276.62	2149.12	2071.50	2008.44	0	0	0	11.95	30.00	30.00
3307.80	10663	497.42	2.42	80.00	2207.5	2272.7	2142.3	2071.4	2008.2	4.97	-0.14	503	3329.49	17.48	0.71	0.00	1.153	0.054	0.000	2139.38	2203.94	2074.81	2200.88	2008.94	0	0	0	11.95	15.96	30.00
3330	end climb: NO_VERTICAL_VELOCITY
state	3330	begin surface