Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 245 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 36 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 SM_CC 686.83997 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -1.9

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 3300 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 540 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 2 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

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 100000 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 215 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3600 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1500 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 2 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18 FG_AHR_10V 2.8985095 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 13.153898 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 0.029999999 PRESSURE_YINT -191.55725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022631494 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72244 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 1 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 235 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3850 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 2275 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2180 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 50 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 2.8985095 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.153898 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.029999999 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 18 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 100000 HEADING -1 PITCH_MAX 3600 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 215 T_BOOST 0

COMM_SEQ 7 ID 245 PITCH_TIMEOUT 25 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 -1.9 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1500 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022631494 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -191.55725 T_RSLEEP 3

C_ROLL_CLIMB 2180 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2275 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3300 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 72244 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 2 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 3850 VBD_TIMEOUT 540

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 36 MOTHERBOARD 6 ROLL_MIN 235 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 0

D_FLARE 3 NAV_MODE 1 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250623,125425,4736.565,-12256.268,1,1.0,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,125745,4736.582,-12256.270,3,1.0,6,15.4 MHEAD_RNG_PITCHd_Wd 194.1,1344,-17.6,-10.000,-21.21,2209,0.186

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.842438,-1948.178467,293.406006

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687701569,0.3,start _24V_AH 14.80,14.552

NET CACST,8,0,20230625133509.717527,18,32767,45,0114,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,10.2,4.65,-100,-1.65,-01,-0.27,62,10000,5000,0,-1,00,00*77 _10V_AH 14.76,0.000

NET_PING 1687700111,29,1009.956055,10.200000,-1.347633 FG_AHR_24Vo 13.333

MODEM_MSG CACST,8,1,20230625132000.788510,18,32767,45,0102,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-27.2,0.65,-100,2.35,-01,0.12,60,925,0025,0,-1,00,00*1D FG_AHR_10Vo 2.956

FREEZE 3.24,14.027,-1.516,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3554.46,272.57,0.901,0,500.6,582.8,418.5,686.69 MEM2 944420,34,101648,91

SM_GC 1.75,0.00,10.63,0.34,0.000,0.042,0.100,496.5,576.4,416.5,195.1,2295.7,0,0,0,30.00,15.44,15.43 DATA_FILE_SIZE 12917,477

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 182597,0

IRIDIUM_FIX 4736.87,-12256.21,250623,120452 SDSIZE 3887104,3861088

TCM_TEMP 15.60 SDFILEDIR 340,37

SC_FREEKB 3867264 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 0,1687698000,47.60500,-122.95000,0.944,1382.4 MAGCAL 1.000000,-0.009692,-0.295751,0.053349,1.160830,0.119077,0.309534,-0.101047,0.931865,1162.9,-1892.2,467.4,33,0.0920,0

RAFOS_FIX 4736.116211,-12257.000000,250623,131300,3,255,1.71 IMPLIED_C_PITCH 1538,18.62,234,0.0,0.00

HUMID 52.16 IMPLIED_C_VBD 3280,54.173748,234,0

TEMP 10.81 GPS 250623,140031,4736.428,-12256.520,24,1.3,25,15.4

INTERNAL_PRESSURE 8.03921

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 756 1095 12276.64 nil 0 0 0.00

Pitch_motor 24 244 88.37 nil 0 0 0.00

Roll_motor 54 195 158.12 nil 0 0 0.00

Iridium 124 188 347.17 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.43 nil 0 0 0.00

Core 2385 5 180.28 SciCon 3262 7 343.14

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1163 0 5.50

Compass 1182 5 87.25

RAFOS 2205 40 1301.94

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

6.84 16386 -146.63 -1.16 0.00 493.8 571.8 415.9 195.4 2253.2 0.00 0.00 0 78.37 66.54 0.00 0.00 0.005 0.000 0.000 2173.41 2262.38 2084.44 195.12 2253.75 0 0 0 15.79 30.00 30.00

78.89 18983 -146.63 -1.16 -80.00 2175.8 2265.7 2085.9 195.1 2253.4 3.20 -2.21 11 162.21 56.41 8.33 3.89 0.005 0.244 0.124 3897.53 3983.12 3811.94 1219.81 807.69 0 0 0 15.79 15.64 15.71

391.34 3205 -146.63 -0.92 0.00 3899.7 3982.7 3816.7 1220.5 807.7 39.83 -14.65 71 400.37 0.00 0.43 3.77 0.000 0.168 0.061 3900.38 3982.75 3818.00 1278.56 2291.94 0 0 0 30.00 15.78 15.82

583.60 260 -146.63 -0.92 80.00 3900.6 3984.3 3816.9 1278.2 2291.5 60.35 -10.11 98 597.24 0.00 0.00 4.05 0.000 0.000 0.123 3901.50 3984.56 3818.44 1278.25 3739.69 0 0 0 30.00 30.00 15.49

826.73 3205 -146.63 -0.79 0.00 3901.8 3984.5 3819.0 1278.4 3740.2 90.17 -12.09 146 835.89 0.00 0.22 3.65 0.000 0.159 0.044 3902.16 3984.94 3819.38 1310.44 2246.19 0 0 0 30.00 15.63 15.70

1021.85 420 -146.63 -0.82 80.00 3902.2 3984.7 3819.6 1310.9 2246.3 106.67 -8.07 166 1031.01 0.00 0.00 4.11 0.000 0.000 0.122 3903.19 3984.56 3821.81 1311.50 3739.69 0 0 0 30.00 30.00 15.75

1194.41 1156 -146.63 -0.78 0.00 3902.3 3984.4 3820.1 1312.0 3739.6 124.37 -10.55 200 1202.69 0.00 0.00 3.61 0.000 0.000 0.046 3902.81 3984.69 3820.94 1311.94 2247.06 0 0 0 30.00 30.00 15.83

1390.34 420 -146.63 -0.83 80.00 3902.6 3984.4 3820.8 1312.1 2246.9 141.56 -8.74 220 1399.63 0.00 0.00 4.07 0.000 0.000 0.123 3901.56 3983.69 3819.44 1311.44 3741.12 0 0 0 30.00 30.00 15.80

1448.88 1156 -146.63 -0.79 0.00 3902.6 3984.9 3820.2 1312.0 3740.8 147.52 -10.51 231 1457.85 0.00 0.00 3.61 0.000 0.000 0.043 3902.25 3983.94 3820.56 1311.69 2245.75 0 0 0 30.00 30.00 15.86

1483 end dive: TARGET_DEPTH_EXCEEDED

state 1484 begin apogee

1485.60 10243 0.00 -0.28 0.00 3902.4 3984.6 3820.2 1311.9 2149.8 150.83 -9.44 235 1615.25 114.43 0.85 0.10 1.096 0.127 0.195 3298.06 3393.94 3202.19 1435.88 2201.75 0 0 0 11.63 15.80 15.28

1616 end apogee: CONTROL_FINISHED_OK

state 1617 begin climb

1616.86 10243 146.63 1.16 0.00 3296.3 3391.9 3200.7 1435.9 2201.6 155.73 0.00 247 1756.21 119.31 2.43 0.00 1.061 0.103 0.000 2701.81 2802.75 2600.88 1783.62 2201.38 0 0 0 11.30 15.34 30.00

1940.21 16646 146.63 1.16 80.00 2692.9 2790.4 2595.5 1783.9 2201.6 122.64 12.94 279 1949.75 0.00 0.00 4.07 0.000 0.000 0.139 2691.62 2789.06 2594.19 1783.81 3645.19 0 0 0 30.00 30.00 15.62

2028.99 21639 146.63 1.01 0.00 2691.8 2788.6 2595.0 1783.5 3645.1 108.97 16.00 296 2038.44 0.00 0.37 3.66 0.000 0.179 0.057 2692.31 2789.19 2595.44 1737.44 2157.69 0 0 0 30.00 15.69 15.73

2223.11 10403 159.11 1.10 0.00 2690.9 2788.1 2593.7 1738.5 2158.3 89.30 9.42 316 2243.61 11.04 0.21 0.00 0.880 0.082 0.000 2649.84 2749.19 2550.50 1774.06 2157.62 0 0 0 11.49 15.82 30.00

2432.85 0 159.11 1.10 0.00 2646.6 2745.4 2547.8 1773.8 2158.1 65.93 10.97 337 2434.76 0.00 0.00 0.00 0.000 0.000 0.000 2646.38 2744.69 2548.06 1774.44 2157.81 0 0 0 30.00 30.00 30.00

2617.87 260 159.11 1.10 80.00 2646.7 2745.4 2548.1 1774.2 2158.0 45.53 10.66 359 2627.18 0.00 0.00 4.09 0.000 0.000 0.134 2649.06 2747.69 2550.44 1774.94 3645.69 0 0 0 30.00 30.00 15.88

2686.41 5253 159.11 1.02 0.00 2646.0 2744.4 2547.6 1774.5 3645.2 36.92 12.93 372 2695.46 0.00 0.26 3.60 0.000 0.182 0.054 2645.78 2744.25 2547.31 1742.38 2159.31 0 0 0 30.00 15.87 15.94

2876.98 10663 216.73 1.20 80.00 2645.4 2744.2 2546.6 1742.5 2158.9 20.54 7.33 406 2939.77 45.42 0.35 4.20 0.945 0.073 0.134 2411.97 2523.25 2300.69 1802.56 3643.88 0 0 0 11.63 15.93 15.63

3168.64 11431 400.64 1.50 0.00 2406.8 2518.6 2294.9 1802.8 3643.4 3.97 1.48 462 3254.80 71.18 0.39 3.66 0.926 0.070 0.051 2026.88 2156.69 1897.06 1871.00 2155.00 0 0 0 11.35 15.78 15.79

3255 end climb: NO_VERTICAL_VELOCITY

state 3255 begin surface

ID	245	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	36	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	SM_CC	686.83997	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-1.9
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	3300	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	540	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	2	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
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	100000	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	215	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3600	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1500	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	2	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18	FG_AHR_10V	2.8985095	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	13.153898	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	0.029999999	PRESSURE_YINT	-191.55725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022631494	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72244	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	1	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	235	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3850	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	2275	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2180	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	0

GPS1	250623,125425,4736.565,-12256.268,1,1.0,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,125745,4736.582,-12256.270,3,1.0,6,15.4	MHEAD_RNG_PITCHd_Wd	194.1,1344,-17.6,-10.000,-21.21,2209,0.186
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.842438,-1948.178467,293.406006
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687701569,0.3,start	_24V_AH	14.80,14.552
NET	CACST,8,0,20230625133509.717527,18,32767,45,0114,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,10.2,4.65,-100,-1.65,-01,-0.27,62,10000,5000,0,-1,00,00*77	_10V_AH	14.76,0.000
NET_PING	1687700111,29,1009.956055,10.200000,-1.347633	FG_AHR_24Vo	13.333
MODEM_MSG	CACST,8,1,20230625132000.788510,18,32767,45,0102,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-27.2,0.65,-100,2.35,-01,0.12,60,925,0025,0,-1,00,00*1D	FG_AHR_10Vo	2.956
FREEZE	3.24,14.027,-1.516,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3554.46,272.57,0.901,0,500.6,582.8,418.5,686.69	MEM2	944420,34,101648,91
SM_GC	1.75,0.00,10.63,0.34,0.000,0.042,0.100,496.5,576.4,416.5,195.1,2295.7,0,0,0,30.00,15.44,15.43	DATA_FILE_SIZE	12917,477
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	182597,0
IRIDIUM_FIX	4736.87,-12256.21,250623,120452	SDSIZE	3887104,3861088
TCM_TEMP	15.60	SDFILEDIR	340,37
SC_FREEKB	3867264	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	0,1687698000,47.60500,-122.95000,0.944,1382.4	MAGCAL	1.000000,-0.009692,-0.295751,0.053349,1.160830,0.119077,0.309534,-0.101047,0.931865,1162.9,-1892.2,467.4,33,0.0920,0
RAFOS_FIX	4736.116211,-12257.000000,250623,131300,3,255,1.71	IMPLIED_C_PITCH	1538,18.62,234,0.0,0.00
HUMID	52.16	IMPLIED_C_VBD	3280,54.173748,234,0
TEMP	10.81	GPS	250623,140031,4736.428,-12256.520,24,1.3,25,15.4
INTERNAL_PRESSURE	8.03921

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	756	1095	12276.64	nil	0	0	0.00
Pitch_motor	24	244	88.37	nil	0	0	0.00
Roll_motor	54	195	158.12	nil	0	0	0.00
Iridium	124	188	347.17	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.43	nil	0	0	0.00
Core	2385	5	180.28	SciCon	3262	7	343.14
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1163	0	5.50
Compass	1182	5	87.25
RAFOS	2205	40	1301.94
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
6.84	16386	-146.63	-1.16	0.00	493.8	571.8	415.9	195.4	2253.2	0.00	0.00	0	78.37	66.54	0.00	0.00	0.005	0.000	0.000	2173.41	2262.38	2084.44	195.12	2253.75	0	0	0	15.79	30.00	30.00
78.89	18983	-146.63	-1.16	-80.00	2175.8	2265.7	2085.9	195.1	2253.4	3.20	-2.21	11	162.21	56.41	8.33	3.89	0.005	0.244	0.124	3897.53	3983.12	3811.94	1219.81	807.69	0	0	0	15.79	15.64	15.71
391.34	3205	-146.63	-0.92	0.00	3899.7	3982.7	3816.7	1220.5	807.7	39.83	-14.65	71	400.37	0.00	0.43	3.77	0.000	0.168	0.061	3900.38	3982.75	3818.00	1278.56	2291.94	0	0	0	30.00	15.78	15.82
583.60	260	-146.63	-0.92	80.00	3900.6	3984.3	3816.9	1278.2	2291.5	60.35	-10.11	98	597.24	0.00	0.00	4.05	0.000	0.000	0.123	3901.50	3984.56	3818.44	1278.25	3739.69	0	0	0	30.00	30.00	15.49
826.73	3205	-146.63	-0.79	0.00	3901.8	3984.5	3819.0	1278.4	3740.2	90.17	-12.09	146	835.89	0.00	0.22	3.65	0.000	0.159	0.044	3902.16	3984.94	3819.38	1310.44	2246.19	0	0	0	30.00	15.63	15.70
1021.85	420	-146.63	-0.82	80.00	3902.2	3984.7	3819.6	1310.9	2246.3	106.67	-8.07	166	1031.01	0.00	0.00	4.11	0.000	0.000	0.122	3903.19	3984.56	3821.81	1311.50	3739.69	0	0	0	30.00	30.00	15.75
1194.41	1156	-146.63	-0.78	0.00	3902.3	3984.4	3820.1	1312.0	3739.6	124.37	-10.55	200	1202.69	0.00	0.00	3.61	0.000	0.000	0.046	3902.81	3984.69	3820.94	1311.94	2247.06	0	0	0	30.00	30.00	15.83
1390.34	420	-146.63	-0.83	80.00	3902.6	3984.4	3820.8	1312.1	2246.9	141.56	-8.74	220	1399.63	0.00	0.00	4.07	0.000	0.000	0.123	3901.56	3983.69	3819.44	1311.44	3741.12	0	0	0	30.00	30.00	15.80
1448.88	1156	-146.63	-0.79	0.00	3902.6	3984.9	3820.2	1312.0	3740.8	147.52	-10.51	231	1457.85	0.00	0.00	3.61	0.000	0.000	0.043	3902.25	3983.94	3820.56	1311.69	2245.75	0	0	0	30.00	30.00	15.86
1483	end dive: TARGET_DEPTH_EXCEEDED
state	1484	begin apogee
1485.60	10243	0.00	-0.28	0.00	3902.4	3984.6	3820.2	1311.9	2149.8	150.83	-9.44	235	1615.25	114.43	0.85	0.10	1.096	0.127	0.195	3298.06	3393.94	3202.19	1435.88	2201.75	0	0	0	11.63	15.80	15.28
1616	end apogee: CONTROL_FINISHED_OK
state	1617	begin climb
1616.86	10243	146.63	1.16	0.00	3296.3	3391.9	3200.7	1435.9	2201.6	155.73	0.00	247	1756.21	119.31	2.43	0.00	1.061	0.103	0.000	2701.81	2802.75	2600.88	1783.62	2201.38	0	0	0	11.30	15.34	30.00
1940.21	16646	146.63	1.16	80.00	2692.9	2790.4	2595.5	1783.9	2201.6	122.64	12.94	279	1949.75	0.00	0.00	4.07	0.000	0.000	0.139	2691.62	2789.06	2594.19	1783.81	3645.19	0	0	0	30.00	30.00	15.62
2028.99	21639	146.63	1.01	0.00	2691.8	2788.6	2595.0	1783.5	3645.1	108.97	16.00	296	2038.44	0.00	0.37	3.66	0.000	0.179	0.057	2692.31	2789.19	2595.44	1737.44	2157.69	0	0	0	30.00	15.69	15.73
2223.11	10403	159.11	1.10	0.00	2690.9	2788.1	2593.7	1738.5	2158.3	89.30	9.42	316	2243.61	11.04	0.21	0.00	0.880	0.082	0.000	2649.84	2749.19	2550.50	1774.06	2157.62	0	0	0	11.49	15.82	30.00
2432.85	0	159.11	1.10	0.00	2646.6	2745.4	2547.8	1773.8	2158.1	65.93	10.97	337	2434.76	0.00	0.00	0.00	0.000	0.000	0.000	2646.38	2744.69	2548.06	1774.44	2157.81	0	0	0	30.00	30.00	30.00
2617.87	260	159.11	1.10	80.00	2646.7	2745.4	2548.1	1774.2	2158.0	45.53	10.66	359	2627.18	0.00	0.00	4.09	0.000	0.000	0.134	2649.06	2747.69	2550.44	1774.94	3645.69	0	0	0	30.00	30.00	15.88
2686.41	5253	159.11	1.02	0.00	2646.0	2744.4	2547.6	1774.5	3645.2	36.92	12.93	372	2695.46	0.00	0.26	3.60	0.000	0.182	0.054	2645.78	2744.25	2547.31	1742.38	2159.31	0	0	0	30.00	15.87	15.94
2876.98	10663	216.73	1.20	80.00	2645.4	2744.2	2546.6	1742.5	2158.9	20.54	7.33	406	2939.77	45.42	0.35	4.20	0.945	0.073	0.134	2411.97	2523.25	2300.69	1802.56	3643.88	0	0	0	11.63	15.93	15.63
3168.64	11431	400.64	1.50	0.00	2406.8	2518.6	2294.9	1802.8	3643.4	3.97	1.48	462	3254.80	71.18	0.39	3.66	0.926	0.070	0.051	2026.88	2156.69	1897.06	1871.00	2155.00	0	0	0	11.35	15.78	15.79
3255	end climb: NO_VERTICAL_VELOCITY
state	3255	begin surface