Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 30 * 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 30 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 2.0780525 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.90487 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 2.0780525 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.90487 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 30 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 260623,235137,4735.965,-12256.929,1,2.0,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,235510,4735.976,-12256.951,3,0.8,22,15.4 MHEAD_RNG_PITCHd_Wd 17.4,1189,-17.6,-10.000,-21.21,2209,0.152

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:

NAV 1687826831,5.1,0,stop _24V_AH 14.93,16.079

NET CARFP,2023-06-27T00:38:11.063533,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c8fd6;1;13;013e48c87c8fd5cd1f85415c3a;1;1;9c,*78 _10V_AH 14.97,0.000

NET_PING 1687826260,29,333.781525,13.500000,-0.444104 FG_AHR_24Vo 15.156

MODEM_MSG CACST,8,1,20230627002500.319335,18,2426,33,0125,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,-4.1,2.52,-100,0.48,-01,-0.27,74,925,0025,0,-1,00,00*02 FG_AHR_10Vo 2.123

FREEZE 5.01,14.425,-1.515,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3489.45,317.60,1.167,0,500.7,527.8,473.5,698.94 MEM2 945424,29,101084,74

SM_GC 1.62,0.00,12.03,0.06,0.000,0.049,0.204,497.2,523.2,471.1,192.9,2039.7,0,0,0,30.00,15.59,15.58 DATA_FILE_SIZE 12937,475

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 199826,0

IRIDIUM_FIX 4735.53,-12254.47,260623,225600 SDSIZE 3887104,3863104

TCM_TEMP -86.31 SDFILEDIR 285,31

SC_FREEKB 3869184 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 0,1687824000,47.60500,-122.95000,0.620,908.0 CURRENT 0.003, 54.9,1

RAFOS_FIX 4736.355469,-12256.662109,270623,000000,4,255,0.89 MAGCAL 1.000000,0.011899,-0.017529,-0.011102,1.048872,-0.078582,-0.015732,-0.046380,0.973767,-211.4,-1203.8,-699.2,34,0.0249,1

HUMID 52.40 IMPLIED_C_PITCH 1768,13.02,219,0.0,0.00

TEMP 11.05 IMPLIED_C_VBD 3308,18.538012,219,0

INTERNAL_PRESSURE 7.98592 GPS 270623,005622,4736.255,-12256.727,5,0.8,7,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 802 1342 16080.74 nil 0 0 0.00

Pitch_motor 25 247 92.54 nil 0 0 0.00

Roll_motor 74 284 314.93 nil 0 0 0.00

Iridium 127 130 249.41 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 31 15 7.05 nil 0 0 0.00

Core 2190 5 167.90 SciCon 3144 6 303.20

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1255 0 6.02

Compass 998 5 74.73

RAFOS 1883 40 1127.95

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 0.00 494.8 518.8 470.9 189.4 2037.4 0.00 0.00 0 56.30 44.78 0.00 0.00 0.005 0.000 0.000 1834.09 1850.50 1817.69 189.19 2037.81 0 0 0 15.95 30.00 30.00

56.83 18727 -146.63 -1.44 80.00 1834.3 1851.6 1817.0 189.4 2037.7 3.20 -4.40 9 144.46 58.65 7.80 3.62 0.005 0.247 0.135 3949.06 3954.12 3944.00 1253.25 3491.62 0 0 0 15.96 15.82 15.89

173.19 3205 -146.63 -1.22 0.00 3950.3 3956.7 3944.0 1253.6 3491.9 16.06 -19.40 30 181.81 0.00 0.35 3.53 0.000 0.193 0.077 3951.00 3958.06 3943.94 1307.19 2009.88 0 0 0 30.00 15.89 15.92

366.24 644 -146.63 -1.11 -80.00 3951.4 3958.3 3944.4 1306.8 2009.8 42.86 -13.57 66 375.09 0.00 0.00 3.90 0.000 0.000 0.171 3950.88 3957.44 3944.31 1306.94 560.06 0 0 0 30.00 30.00 15.93

604.00 3205 -146.63 -0.97 0.00 3951.3 3958.6 3944.1 1306.4 559.9 80.90 -16.39 113 613.16 0.00 0.38 3.56 0.000 0.172 0.079 3952.25 3958.94 3945.56 1366.44 2041.69 0 0 0 30.00 15.96 15.98

799.55 388 -146.63 -0.94 80.00 3951.8 3959.2 3944.4 1367.4 2041.2 102.94 -10.59 133 811.42 0.00 0.00 3.75 0.000 0.000 0.135 3917.59 3891.00 3944.19 1365.56 3490.12 0 0 0 30.00 30.00 15.43

860.29 1156 -146.63 -0.87 0.00 3952.4 3960.9 3943.9 1367.2 3490.3 110.32 -12.40 145 869.01 0.00 0.00 3.59 0.000 0.000 0.078 3951.44 3959.25 3943.62 1366.44 2010.06 0 0 0 30.00 30.00 15.88

1055.30 2437 -146.63 -0.84 80.00 3952.6 3961.2 3943.9 1366.8 2009.2 131.58 -10.53 165 1064.60 0.00 0.20 3.78 0.000 0.170 0.135 3952.47 3961.25 3943.69 1399.06 3490.31 0 0 0 30.00 15.92 15.93

1137.54 1028 -146.63 -0.84 0.00 3952.9 3961.6 3944.2 1399.3 3490.6 140.72 -10.88 181 1145.98 0.00 0.00 3.58 0.000 0.000 0.080 3952.72 3961.00 3944.44 1398.81 2009.75 0 0 0 30.00 30.00 15.95

1243 end dive: TARGET_DEPTH_EXCEEDED

state 1243 begin apogee

1245.15 10243 0.00 -0.36 0.00 3952.8 3961.6 3944.0 1399.1 2039.9 150.94 -9.62 192 1375.46 116.82 0.75 0.06 1.343 0.130 0.284 3348.50 3388.19 3308.81 1517.62 2011.00 0 0 0 12.21 15.96 15.55

1377 end apogee: CONTROL_FINISHED_OK

state 1377 begin climb

1377.03 10759 146.63 1.44 -80.00 3348.4 3387.8 3309.0 1517.8 2011.4 157.64 0.00 204 1529.50 123.69 2.81 4.16 1.301 0.105 0.185 2750.41 2800.88 2699.94 1952.06 562.31 0 0 0 11.91 15.59 15.37

1572.75 9382 194.43 1.54 0.00 2746.7 2792.7 2700.6 1952.1 562.3 147.71 7.79 239 1629.61 42.22 0.00 3.66 1.259 0.000 0.076 2554.53 2609.12 2499.94 1951.56 2039.38 0 0 0 11.74 30.00 15.58

1813.54 10663 246.34 1.70 80.00 2550.6 2605.4 2495.8 1952.2 2039.6 129.16 7.60 267 1871.40 44.13 0.36 3.80 1.267 0.063 0.146 2343.81 2405.44 2282.19 2031.56 3488.00 0 0 0 11.97 15.75 15.57

1941.90 1156 246.34 1.74 0.00 2340.7 2402.7 2278.7 2031.8 3488.0 114.47 12.77 291 1950.92 0.00 0.00 3.65 0.000 0.000 0.080 2338.75 2400.31 2277.19 2030.94 2012.12 0 0 0 30.00 30.00 15.71

2136.92 388 246.34 1.80 80.00 2338.8 2401.0 2276.7 2031.5 2012.4 92.69 10.88 311 2146.04 0.00 0.00 3.78 0.000 0.000 0.140 2340.28 2403.50 2277.06 2031.06 3489.06 0 0 0 30.00 30.00 15.85

2195.01 1156 246.34 1.84 0.00 2338.5 2400.2 2276.8 2031.6 3489.4 85.95 11.68 322 2203.88 0.00 0.00 3.59 0.000 0.000 0.081 2337.03 2398.88 2275.19 2031.25 2010.38 0 0 0 30.00 30.00 15.88

2389.97 2437 246.34 1.91 80.00 2338.1 2399.5 2276.7 2031.6 2010.6 65.69 10.10 342 2399.41 0.00 0.19 3.77 0.000 0.083 0.140 2336.25 2397.06 2275.44 2078.62 3492.44 0 0 0 30.00 16.00 15.94

2422.37 1028 246.34 1.91 0.00 2338.0 2399.9 2276.2 2078.4 3493.1 61.63 12.14 348 2430.92 0.00 0.00 3.57 0.000 0.000 0.079 2339.66 2401.44 2277.88 2078.12 2011.06 0 0 0 30.00 30.00 15.97

2612.54 388 246.34 1.94 80.00 2337.9 2399.6 2276.2 2078.2 2010.9 38.83 11.81 376 2621.36 0.00 0.00 3.75 0.000 0.000 0.140 2337.50 2399.00 2276.00 2078.88 3488.31 0 0 0 30.00 30.00 15.99

2665.08 1028 246.34 1.94 0.00 2338.0 2399.8 2276.3 2077.8 3489.1 32.12 13.00 386 2673.95 0.00 0.00 3.56 0.000 0.000 0.080 2336.47 2397.88 2275.06 2078.56 2009.31 0 0 0 30.00 30.00 16.01

2857.99 8614 263.14 2.00 80.00 2337.6 2398.9 2276.2 2078.4 2009.4 12.23 9.22 424 2886.63 15.98 0.00 3.76 1.154 0.000 0.142 2276.22 2337.38 2215.06 2078.75 3487.88 0 0 0 11.97 30.00 15.98

2932.50 11431 305.66 2.10 0.00 2275.2 2336.6 2213.7 2078.4 3488.8 6.05 8.03 435 2984.27 38.17 0.19 3.56 1.196 0.086 0.078 2102.62 2169.00 2036.25 2128.06 2008.94 0 0 0 12.12 16.01 15.99

3139 end climb: NO_VERTICAL_VELOCITY

state 3139 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	30	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	2.0780525	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.90487	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	260623,235137,4735.965,-12256.929,1,2.0,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,235510,4735.976,-12256.951,3,0.8,22,15.4	MHEAD_RNG_PITCHd_Wd	17.4,1189,-17.6,-10.000,-21.21,2209,0.152
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

NAV	1687826831,5.1,0,stop	_24V_AH	14.93,16.079
NET	CARFP,2023-06-27T00:38:11.063533,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c8fd6;1;13;013e48c87c8fd5cd1f85415c3a;1;1;9c,*78	_10V_AH	14.97,0.000
NET_PING	1687826260,29,333.781525,13.500000,-0.444104	FG_AHR_24Vo	15.156
MODEM_MSG	CACST,8,1,20230627002500.319335,18,2426,33,0125,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,-4.1,2.52,-100,0.48,-01,-0.27,74,925,0025,0,-1,00,00*02	FG_AHR_10Vo	2.123
FREEZE	5.01,14.425,-1.515,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3489.45,317.60,1.167,0,500.7,527.8,473.5,698.94	MEM2	945424,29,101084,74
SM_GC	1.62,0.00,12.03,0.06,0.000,0.049,0.204,497.2,523.2,471.1,192.9,2039.7,0,0,0,30.00,15.59,15.58	DATA_FILE_SIZE	12937,475
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	199826,0
IRIDIUM_FIX	4735.53,-12254.47,260623,225600	SDSIZE	3887104,3863104
TCM_TEMP	-86.31	SDFILEDIR	285,31
SC_FREEKB	3869184	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	0,1687824000,47.60500,-122.95000,0.620,908.0	CURRENT	0.003, 54.9,1
RAFOS_FIX	4736.355469,-12256.662109,270623,000000,4,255,0.89	MAGCAL	1.000000,0.011899,-0.017529,-0.011102,1.048872,-0.078582,-0.015732,-0.046380,0.973767,-211.4,-1203.8,-699.2,34,0.0249,1
HUMID	52.40	IMPLIED_C_PITCH	1768,13.02,219,0.0,0.00
TEMP	11.05	IMPLIED_C_VBD	3308,18.538012,219,0
INTERNAL_PRESSURE	7.98592	GPS	270623,005622,4736.255,-12256.727,5,0.8,7,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	802	1342	16080.74	nil	0	0	0.00
Pitch_motor	25	247	92.54	nil	0	0	0.00
Roll_motor	74	284	314.93	nil	0	0	0.00
Iridium	127	130	249.41	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	31	15	7.05	nil	0	0	0.00
Core	2190	5	167.90	SciCon	3144	6	303.20
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1255	0	6.02
Compass	998	5	74.73
RAFOS	1883	40	1127.95
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	494.8	518.8	470.9	189.4	2037.4	0.00	0.00	0	56.30	44.78	0.00	0.00	0.005	0.000	0.000	1834.09	1850.50	1817.69	189.19	2037.81	0	0	0	15.95	30.00	30.00
56.83	18727	-146.63	-1.44	80.00	1834.3	1851.6	1817.0	189.4	2037.7	3.20	-4.40	9	144.46	58.65	7.80	3.62	0.005	0.247	0.135	3949.06	3954.12	3944.00	1253.25	3491.62	0	0	0	15.96	15.82	15.89
173.19	3205	-146.63	-1.22	0.00	3950.3	3956.7	3944.0	1253.6	3491.9	16.06	-19.40	30	181.81	0.00	0.35	3.53	0.000	0.193	0.077	3951.00	3958.06	3943.94	1307.19	2009.88	0	0	0	30.00	15.89	15.92
366.24	644	-146.63	-1.11	-80.00	3951.4	3958.3	3944.4	1306.8	2009.8	42.86	-13.57	66	375.09	0.00	0.00	3.90	0.000	0.000	0.171	3950.88	3957.44	3944.31	1306.94	560.06	0	0	0	30.00	30.00	15.93
604.00	3205	-146.63	-0.97	0.00	3951.3	3958.6	3944.1	1306.4	559.9	80.90	-16.39	113	613.16	0.00	0.38	3.56	0.000	0.172	0.079	3952.25	3958.94	3945.56	1366.44	2041.69	0	0	0	30.00	15.96	15.98
799.55	388	-146.63	-0.94	80.00	3951.8	3959.2	3944.4	1367.4	2041.2	102.94	-10.59	133	811.42	0.00	0.00	3.75	0.000	0.000	0.135	3917.59	3891.00	3944.19	1365.56	3490.12	0	0	0	30.00	30.00	15.43
860.29	1156	-146.63	-0.87	0.00	3952.4	3960.9	3943.9	1367.2	3490.3	110.32	-12.40	145	869.01	0.00	0.00	3.59	0.000	0.000	0.078	3951.44	3959.25	3943.62	1366.44	2010.06	0	0	0	30.00	30.00	15.88
1055.30	2437	-146.63	-0.84	80.00	3952.6	3961.2	3943.9	1366.8	2009.2	131.58	-10.53	165	1064.60	0.00	0.20	3.78	0.000	0.170	0.135	3952.47	3961.25	3943.69	1399.06	3490.31	0	0	0	30.00	15.92	15.93
1137.54	1028	-146.63	-0.84	0.00	3952.9	3961.6	3944.2	1399.3	3490.6	140.72	-10.88	181	1145.98	0.00	0.00	3.58	0.000	0.000	0.080	3952.72	3961.00	3944.44	1398.81	2009.75	0	0	0	30.00	30.00	15.95
1243	end dive: TARGET_DEPTH_EXCEEDED
state	1243	begin apogee
1245.15	10243	0.00	-0.36	0.00	3952.8	3961.6	3944.0	1399.1	2039.9	150.94	-9.62	192	1375.46	116.82	0.75	0.06	1.343	0.130	0.284	3348.50	3388.19	3308.81	1517.62	2011.00	0	0	0	12.21	15.96	15.55
1377	end apogee: CONTROL_FINISHED_OK
state	1377	begin climb
1377.03	10759	146.63	1.44	-80.00	3348.4	3387.8	3309.0	1517.8	2011.4	157.64	0.00	204	1529.50	123.69	2.81	4.16	1.301	0.105	0.185	2750.41	2800.88	2699.94	1952.06	562.31	0	0	0	11.91	15.59	15.37
1572.75	9382	194.43	1.54	0.00	2746.7	2792.7	2700.6	1952.1	562.3	147.71	7.79	239	1629.61	42.22	0.00	3.66	1.259	0.000	0.076	2554.53	2609.12	2499.94	1951.56	2039.38	0	0	0	11.74	30.00	15.58
1813.54	10663	246.34	1.70	80.00	2550.6	2605.4	2495.8	1952.2	2039.6	129.16	7.60	267	1871.40	44.13	0.36	3.80	1.267	0.063	0.146	2343.81	2405.44	2282.19	2031.56	3488.00	0	0	0	11.97	15.75	15.57
1941.90	1156	246.34	1.74	0.00	2340.7	2402.7	2278.7	2031.8	3488.0	114.47	12.77	291	1950.92	0.00	0.00	3.65	0.000	0.000	0.080	2338.75	2400.31	2277.19	2030.94	2012.12	0	0	0	30.00	30.00	15.71
2136.92	388	246.34	1.80	80.00	2338.8	2401.0	2276.7	2031.5	2012.4	92.69	10.88	311	2146.04	0.00	0.00	3.78	0.000	0.000	0.140	2340.28	2403.50	2277.06	2031.06	3489.06	0	0	0	30.00	30.00	15.85
2195.01	1156	246.34	1.84	0.00	2338.5	2400.2	2276.8	2031.6	3489.4	85.95	11.68	322	2203.88	0.00	0.00	3.59	0.000	0.000	0.081	2337.03	2398.88	2275.19	2031.25	2010.38	0	0	0	30.00	30.00	15.88
2389.97	2437	246.34	1.91	80.00	2338.1	2399.5	2276.7	2031.6	2010.6	65.69	10.10	342	2399.41	0.00	0.19	3.77	0.000	0.083	0.140	2336.25	2397.06	2275.44	2078.62	3492.44	0	0	0	30.00	16.00	15.94
2422.37	1028	246.34	1.91	0.00	2338.0	2399.9	2276.2	2078.4	3493.1	61.63	12.14	348	2430.92	0.00	0.00	3.57	0.000	0.000	0.079	2339.66	2401.44	2277.88	2078.12	2011.06	0	0	0	30.00	30.00	15.97
2612.54	388	246.34	1.94	80.00	2337.9	2399.6	2276.2	2078.2	2010.9	38.83	11.81	376	2621.36	0.00	0.00	3.75	0.000	0.000	0.140	2337.50	2399.00	2276.00	2078.88	3488.31	0	0	0	30.00	30.00	15.99
2665.08	1028	246.34	1.94	0.00	2338.0	2399.8	2276.3	2077.8	3489.1	32.12	13.00	386	2673.95	0.00	0.00	3.56	0.000	0.000	0.080	2336.47	2397.88	2275.06	2078.56	2009.31	0	0	0	30.00	30.00	16.01
2857.99	8614	263.14	2.00	80.00	2337.6	2398.9	2276.2	2078.4	2009.4	12.23	9.22	424	2886.63	15.98	0.00	3.76	1.154	0.000	0.142	2276.22	2337.38	2215.06	2078.75	3487.88	0	0	0	11.97	30.00	15.98
2932.50	11431	305.66	2.10	0.00	2275.2	2336.6	2213.7	2078.4	3488.8	6.05	8.03	435	2984.27	38.17	0.19	3.56	1.196	0.086	0.078	2102.62	2169.00	2036.25	2128.06	2008.94	0	0	0	12.12	16.01	15.99
3139	end climb: NO_VERTICAL_VELOCITY
state	3139	begin surface