Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 9 * 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 9 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 SM_CC 699.10498 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 3350 MOTHERBOARD 6

D_ABORT 175 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 1 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 7

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_MISSION 75 T_RSLEEP 3 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 60 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 210 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3615 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1600 MINV_10V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_10V 1.5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 14 FG_AHR_10V 1.0913469 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 9.5708675 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 1.0913469 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 9.5708675 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 9 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 260623,013129,4735.974,-12256.869,2,1.4,31,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,013612,4735.960,-12256.883,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 11.3,1175,-17.6,-10.000,-21.21,2209,0.140

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230626022249.602360,18,2594,34,0194,0099,37,02,02,00,02,-1,-01,-01,1,3,302,0,150,10.9,0.70,-100,2.30,-01,2.54,64,10000,5000,0,-1,00,00*6C _24V_AH 14.96,10.256

NET_PING 1687743460,29,375.375031,1.200000,-0.500034 _10V_AH 14.99,0.000

NAV 1687746433,5.2,3,stop FG_AHR_24Vo 9.819

MODEM_MSG CACST,8,1,20230626022501.516167,18,3766,35,0262,0000,126,02,02,00,02,-1,-01,-01,1,3,0,0,150,17.9,0.18,-100,2.82,-01,-0.16,56,925,0025,0,-1,00,00*12 FG_AHR_10Vo 1.129

FREEZE 5.15,13.858,-1.531,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3516.14,330.93,1.163,0,501.1,526.3,475.9,698.84 MEM2 945432,27,101116,74

SM_GC 1.68,0.00,12.66,0.06,0.000,0.067,0.209,480.7,487.3,474.1,190.1,2040.1,0,0,0,30.00,15.59,15.59 DATA_FILE_SIZE 12958,468

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 188272,0

IRIDIUM_FIX 4735.53,-12254.47,260623,013237 SDSIZE 3887104,3870080

TCM_TEMP -86.22 SDFILEDIR 110,10

SC_FREEKB 3875904 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 1,1687745400,47.60500,-122.95000,0.382,559.9 CURRENT 0.048,191.9,1

RAFOS_FIX 4736.460938,-12257.000000,260623,020200,2,510,0.36 MAGCAL 1.000000,0.001833,-0.079702,0.001353,1.072936,-0.088752,-0.003101,-0.009326,1.058267,-157.1,-1197.2,-768.0,36,0.0502,0

HUMID 52.65 IMPLIED_C_PITCH 1761,13.53,226,0.0,0.00

TEMP 11.47 IMPLIED_C_VBD 3319,20.480639,226,0

INTERNAL_PRESSURE 8.01028 GPS 260623,023740,4736.171,-12256.604,2,0.8,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 799 1338 16010.41 nil 0 0 0.00

Pitch_motor 26 270 105.27 nil 0 0 0.00

Roll_motor 58 308 270.04 nil 0 0 0.00

Iridium 212 166 531.15 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.13 nil 0 0 0.00

Core 2102 5 161.39 SciCon 3157 6 305.28

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1423 0 6.83

Compass 990 5 74.21

RAFOS 1878 40 1126.16

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

6.73 16386 -146.63 -1.44 0.00 495.3 516.9 473.8 190.4 2011.6 0.00 0.00 0 75.40 62.44 0.00 0.00 0.005 0.000 0.000 2281.69 2296.00 2267.38 190.69 2011.19 0 0 0 15.21 30.00 30.00

75.94 18727 -146.63 -1.44 80.00 2281.2 2297.0 2265.4 190.6 2011.2 3.40 -3.63 12 142.17 39.77 7.89 3.68 0.006 0.270 0.136 3948.91 3952.69 3945.12 1253.19 3491.06 0 0 0 14.82 15.77 15.85

370.24 3205 -146.63 -1.25 0.00 3951.5 3957.4 3945.5 1253.4 3491.8 51.49 -17.19 69 378.81 0.00 0.29 3.52 0.000 0.198 0.079 3952.25 3958.69 3945.81 1299.06 2009.38 0 0 0 30.00 15.92 15.97

560.36 388 -146.63 -1.14 80.00 3952.1 3958.4 3945.7 1299.2 2009.8 77.01 -13.67 88 569.15 0.00 0.00 3.68 0.000 0.000 0.135 3952.56 3959.25 3945.88 1299.38 3491.75 0 0 0 30.00 30.00 15.98

692.46 3205 -146.63 -1.01 0.00 3952.1 3959.1 3945.0 1299.4 3491.4 97.25 -15.16 114 700.99 0.00 0.36 3.49 0.000 0.177 0.080 3951.47 3958.19 3944.75 1356.81 2010.44 0 0 0 30.00 15.99 16.02

888.25 388 -146.63 -0.97 80.00 3953.7 3961.6 3945.8 1356.8 2010.7 118.81 -10.64 134 897.04 0.00 0.00 3.67 0.000 0.000 0.138 3952.91 3960.44 3945.38 1357.19 3490.56 0 0 0 30.00 30.00 16.05

1004.33 3205 -146.63 -0.90 0.00 3953.4 3961.3 3945.4 1356.9 3490.1 133.00 -12.53 156 1012.70 0.00 0.17 3.49 0.000 0.192 0.081 3953.16 3961.62 3944.69 1384.19 2010.69 0 0 0 30.00 16.04 16.07

1180 end dive: TARGET_DEPTH_EXCEEDED

state 1180 begin apogee

1181.71 10243 0.00 -0.36 0.00 3953.7 3962.4 3945.0 1384.2 2039.6 150.72 -9.86 174 1311.79 114.91 0.83 0.06 1.338 0.138 0.308 3349.06 3388.62 3309.50 1516.94 2012.06 0 0 0 12.02 16.08 15.65

1313 end apogee: CONTROL_FINISHED_OK

state 1313 begin climb

1313.28 10759 146.63 1.44 -80.00 3347.6 3387.7 3307.5 1517.1 2011.8 157.65 0.00 186 1459.84 120.71 2.78 3.99 1.300 0.114 0.190 2749.97 2801.56 2698.38 1952.12 562.12 0 0 0 11.95 15.69 15.42

1533.93 9382 168.41 1.50 0.00 2745.8 2792.2 2699.4 1951.7 561.9 145.06 8.99 224 1563.74 19.52 0.00 3.60 1.208 0.000 0.079 2660.00 2708.50 2611.50 1951.81 2038.88 0 0 0 11.77 30.00 15.66

1748.85 10663 212.14 1.64 80.00 2658.4 2707.8 2609.1 1951.6 2039.3 128.20 7.97 248 1800.08 37.34 0.28 3.73 1.260 0.070 0.150 2483.94 2539.56 2428.31 2013.81 3488.75 0 0 0 11.88 15.81 15.64

1872.37 1156 212.14 1.67 0.00 2480.8 2536.4 2425.1 2014.0 3489.1 114.32 12.17 271 1880.79 0.00 0.00 3.60 0.000 0.000 0.083 2481.34 2537.31 2425.38 2014.56 2010.62 0 0 0 30.00 30.00 15.73

2068.15 388 212.14 1.73 80.00 2479.0 2535.0 2423.1 2014.0 2010.8 93.74 10.08 291 2077.35 0.00 0.00 3.76 0.000 0.000 0.144 2480.22 2537.25 2423.19 2014.50 3489.50 0 0 0 30.00 30.00 15.84

2136.25 1156 212.14 1.77 0.00 2478.3 2534.2 2422.4 2014.4 3488.8 86.32 11.06 304 2145.15 0.00 0.00 3.55 0.000 0.000 0.082 2476.94 2532.31 2421.56 2014.25 2011.31 0 0 0 30.00 30.00 15.88

2331.37 10403 223.78 1.85 0.00 2478.1 2533.9 2422.2 2014.6 2010.8 67.29 9.46 324 2347.29 12.34 0.21 0.00 1.126 0.075 0.000 2437.75 2495.88 2379.62 2064.50 2010.06 0 0 0 11.88 15.96 30.00

2531.29 388 223.78 1.89 80.00 2434.9 2492.7 2377.2 2064.0 2009.9 45.99 10.47 348 2540.15 0.00 0.00 3.73 0.000 0.000 0.144 2436.41 2493.19 2379.62 2063.75 3491.62 0 0 0 30.00 30.00 15.93

2618.88 1028 223.78 1.89 0.00 2434.3 2491.5 2377.1 2064.6 3491.1 35.71 12.09 365 2627.70 0.00 0.00 3.53 0.000 0.000 0.083 2435.66 2494.06 2377.25 2064.69 2011.25 0 0 0 30.00 30.00 15.96

2810.35 8614 237.53 1.95 80.00 2434.2 2491.5 2376.9 2065.3 2010.9 16.78 9.36 402 2835.71 14.47 0.00 3.74 1.139 0.000 0.145 2378.69 2437.38 2320.00 2064.94 3490.00 0 0 0 11.94 30.00 15.92

2904.72 11431 268.80 2.03 0.00 2378.9 2437.1 2320.8 2064.8 3489.8 8.19 8.55 420 2945.60 29.44 0.17 3.52 1.182 0.090 0.082 2253.06 2316.31 2189.81 2112.12 2009.50 0 0 0 12.07 15.98 15.95

3129.55 10919 494.38 2.39 -80.00 2248.4 2310.4 2186.4 2112.0 2009.6 5.22 -0.45 464 3150.96 17.80 0.41 0.00 1.148 0.061 0.000 2177.38 2239.94 2114.81 2197.50 2009.81 0 0 0 12.01 15.96 30.00

3152 end climb: NO_VERTICAL_VELOCITY

state 3152 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	9	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	SM_CC	699.10498	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	3350	MOTHERBOARD	6
D_ABORT	175	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	1	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	7
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_MISSION	75	T_RSLEEP	3	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	60	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	210	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3615	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1600	MINV_10V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_10V	1.5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	14	FG_AHR_10V	1.0913469	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	9.5708675	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	260623,013129,4735.974,-12256.869,2,1.4,31,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,013612,4735.960,-12256.883,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	11.3,1175,-17.6,-10.000,-21.21,2209,0.140
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,1,20230626022249.602360,18,2594,34,0194,0099,37,02,02,00,02,-1,-01,-01,1,3,302,0,150,10.9,0.70,-100,2.30,-01,2.54,64,10000,5000,0,-1,00,00*6C	_24V_AH	14.96,10.256
NET_PING	1687743460,29,375.375031,1.200000,-0.500034	_10V_AH	14.99,0.000
NAV	1687746433,5.2,3,stop	FG_AHR_24Vo	9.819
MODEM_MSG	CACST,8,1,20230626022501.516167,18,3766,35,0262,0000,126,02,02,00,02,-1,-01,-01,1,3,0,0,150,17.9,0.18,-100,2.82,-01,-0.16,56,925,0025,0,-1,00,00*12	FG_AHR_10Vo	1.129
FREEZE	5.15,13.858,-1.531,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3516.14,330.93,1.163,0,501.1,526.3,475.9,698.84	MEM2	945432,27,101116,74
SM_GC	1.68,0.00,12.66,0.06,0.000,0.067,0.209,480.7,487.3,474.1,190.1,2040.1,0,0,0,30.00,15.59,15.59	DATA_FILE_SIZE	12958,468
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	188272,0
IRIDIUM_FIX	4735.53,-12254.47,260623,013237	SDSIZE	3887104,3870080
TCM_TEMP	-86.22	SDFILEDIR	110,10
SC_FREEKB	3875904	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	1,1687745400,47.60500,-122.95000,0.382,559.9	CURRENT	0.048,191.9,1
RAFOS_FIX	4736.460938,-12257.000000,260623,020200,2,510,0.36	MAGCAL	1.000000,0.001833,-0.079702,0.001353,1.072936,-0.088752,-0.003101,-0.009326,1.058267,-157.1,-1197.2,-768.0,36,0.0502,0
HUMID	52.65	IMPLIED_C_PITCH	1761,13.53,226,0.0,0.00
TEMP	11.47	IMPLIED_C_VBD	3319,20.480639,226,0
INTERNAL_PRESSURE	8.01028	GPS	260623,023740,4736.171,-12256.604,2,0.8,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	799	1338	16010.41	nil	0	0	0.00
Pitch_motor	26	270	105.27	nil	0	0	0.00
Roll_motor	58	308	270.04	nil	0	0	0.00
Iridium	212	166	531.15	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.13	nil	0	0	0.00
Core	2102	5	161.39	SciCon	3157	6	305.28
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1423	0	6.83
Compass	990	5	74.21
RAFOS	1878	40	1126.16
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
6.73	16386	-146.63	-1.44	0.00	495.3	516.9	473.8	190.4	2011.6	0.00	0.00	0	75.40	62.44	0.00	0.00	0.005	0.000	0.000	2281.69	2296.00	2267.38	190.69	2011.19	0	0	0	15.21	30.00	30.00
75.94	18727	-146.63	-1.44	80.00	2281.2	2297.0	2265.4	190.6	2011.2	3.40	-3.63	12	142.17	39.77	7.89	3.68	0.006	0.270	0.136	3948.91	3952.69	3945.12	1253.19	3491.06	0	0	0	14.82	15.77	15.85
370.24	3205	-146.63	-1.25	0.00	3951.5	3957.4	3945.5	1253.4	3491.8	51.49	-17.19	69	378.81	0.00	0.29	3.52	0.000	0.198	0.079	3952.25	3958.69	3945.81	1299.06	2009.38	0	0	0	30.00	15.92	15.97
560.36	388	-146.63	-1.14	80.00	3952.1	3958.4	3945.7	1299.2	2009.8	77.01	-13.67	88	569.15	0.00	0.00	3.68	0.000	0.000	0.135	3952.56	3959.25	3945.88	1299.38	3491.75	0	0	0	30.00	30.00	15.98
692.46	3205	-146.63	-1.01	0.00	3952.1	3959.1	3945.0	1299.4	3491.4	97.25	-15.16	114	700.99	0.00	0.36	3.49	0.000	0.177	0.080	3951.47	3958.19	3944.75	1356.81	2010.44	0	0	0	30.00	15.99	16.02
888.25	388	-146.63	-0.97	80.00	3953.7	3961.6	3945.8	1356.8	2010.7	118.81	-10.64	134	897.04	0.00	0.00	3.67	0.000	0.000	0.138	3952.91	3960.44	3945.38	1357.19	3490.56	0	0	0	30.00	30.00	16.05
1004.33	3205	-146.63	-0.90	0.00	3953.4	3961.3	3945.4	1356.9	3490.1	133.00	-12.53	156	1012.70	0.00	0.17	3.49	0.000	0.192	0.081	3953.16	3961.62	3944.69	1384.19	2010.69	0	0	0	30.00	16.04	16.07
1180	end dive: TARGET_DEPTH_EXCEEDED
state	1180	begin apogee
1181.71	10243	0.00	-0.36	0.00	3953.7	3962.4	3945.0	1384.2	2039.6	150.72	-9.86	174	1311.79	114.91	0.83	0.06	1.338	0.138	0.308	3349.06	3388.62	3309.50	1516.94	2012.06	0	0	0	12.02	16.08	15.65
1313	end apogee: CONTROL_FINISHED_OK
state	1313	begin climb
1313.28	10759	146.63	1.44	-80.00	3347.6	3387.7	3307.5	1517.1	2011.8	157.65	0.00	186	1459.84	120.71	2.78	3.99	1.300	0.114	0.190	2749.97	2801.56	2698.38	1952.12	562.12	0	0	0	11.95	15.69	15.42
1533.93	9382	168.41	1.50	0.00	2745.8	2792.2	2699.4	1951.7	561.9	145.06	8.99	224	1563.74	19.52	0.00	3.60	1.208	0.000	0.079	2660.00	2708.50	2611.50	1951.81	2038.88	0	0	0	11.77	30.00	15.66
1748.85	10663	212.14	1.64	80.00	2658.4	2707.8	2609.1	1951.6	2039.3	128.20	7.97	248	1800.08	37.34	0.28	3.73	1.260	0.070	0.150	2483.94	2539.56	2428.31	2013.81	3488.75	0	0	0	11.88	15.81	15.64
1872.37	1156	212.14	1.67	0.00	2480.8	2536.4	2425.1	2014.0	3489.1	114.32	12.17	271	1880.79	0.00	0.00	3.60	0.000	0.000	0.083	2481.34	2537.31	2425.38	2014.56	2010.62	0	0	0	30.00	30.00	15.73
2068.15	388	212.14	1.73	80.00	2479.0	2535.0	2423.1	2014.0	2010.8	93.74	10.08	291	2077.35	0.00	0.00	3.76	0.000	0.000	0.144	2480.22	2537.25	2423.19	2014.50	3489.50	0	0	0	30.00	30.00	15.84
2136.25	1156	212.14	1.77	0.00	2478.3	2534.2	2422.4	2014.4	3488.8	86.32	11.06	304	2145.15	0.00	0.00	3.55	0.000	0.000	0.082	2476.94	2532.31	2421.56	2014.25	2011.31	0	0	0	30.00	30.00	15.88
2331.37	10403	223.78	1.85	0.00	2478.1	2533.9	2422.2	2014.6	2010.8	67.29	9.46	324	2347.29	12.34	0.21	0.00	1.126	0.075	0.000	2437.75	2495.88	2379.62	2064.50	2010.06	0	0	0	11.88	15.96	30.00
2531.29	388	223.78	1.89	80.00	2434.9	2492.7	2377.2	2064.0	2009.9	45.99	10.47	348	2540.15	0.00	0.00	3.73	0.000	0.000	0.144	2436.41	2493.19	2379.62	2063.75	3491.62	0	0	0	30.00	30.00	15.93
2618.88	1028	223.78	1.89	0.00	2434.3	2491.5	2377.1	2064.6	3491.1	35.71	12.09	365	2627.70	0.00	0.00	3.53	0.000	0.000	0.083	2435.66	2494.06	2377.25	2064.69	2011.25	0	0	0	30.00	30.00	15.96
2810.35	8614	237.53	1.95	80.00	2434.2	2491.5	2376.9	2065.3	2010.9	16.78	9.36	402	2835.71	14.47	0.00	3.74	1.139	0.000	0.145	2378.69	2437.38	2320.00	2064.94	3490.00	0	0	0	11.94	30.00	15.92
2904.72	11431	268.80	2.03	0.00	2378.9	2437.1	2320.8	2064.8	3489.8	8.19	8.55	420	2945.60	29.44	0.17	3.52	1.182	0.090	0.082	2253.06	2316.31	2189.81	2112.12	2009.50	0	0	0	12.07	15.98	15.95
3129.55	10919	494.38	2.39	-80.00	2248.4	2310.4	2186.4	2112.0	2009.6	5.22	-0.45	464	3150.96	17.80	0.41	0.00	1.148	0.061	0.000	2177.38	2239.94	2114.81	2197.50	2009.81	0	0	0	12.01	15.96	30.00
3152	end climb: NO_VERTICAL_VELOCITY
state	3152	begin surface