Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 37 * 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 37 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 2.9610405 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 13.342293 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 2.9610405 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.342293 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 37 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 250623,140031,4736.428,-12256.520,24,1.3,25,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,140627,4736.444,-12256.508,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 186.3,985,-17.6,-10.000,-21.21,2209,0.151

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 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20230625142500.497467,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,91.0,9.27,-100,-6.27,-01,-0.24,00,925,0025,0,1,00,00*32 _24V_AH 14.77,14.772

NAV 1687705145,8.2,start _10V_AH 14.73,0.000

NET xmit part outbox0032.n 1724 0 FG_AHR_24Vo 13.522

NET_PING 1687704616,29,386.562012,11.600000,-0.513346 FG_AHR_10Vo 3.004

FREEZE 3.31,13.793,-1.528,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3693.05,282.98,0.903,0,500.8,582.1,419.4,686.65 MEM2 944332,38,101656,91

SM_GC 1.82,0.00,10.83,0.34,0.000,0.041,0.098,496.1,575.4,416.7,196.4,2295.6,0,0,0,30.00,15.40,15.41 DATA_FILE_SIZE 16147,514

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 184795,0

IRIDIUM_FIX 4738.47,-12353.81,250623,140208 SDSIZE 3887104,3860736

TCM_TEMP 15.59 SDFILEDIR 349,38

SC_FREEKB 3866944 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687701600,47.60500,-122.95000,0.631,925.0 MAGCAL 1.000000,0.014288,-0.172025,0.020357,1.152989,0.226249,0.174436,-0.161976,1.040279,369.5,-2264.9,112.6,36,0.0716,0

RAFOS_FIX 4736.116211,-12257.000000,250623,131300,3,255,1.71 IMPLIED_C_PITCH 1547,19.23,248,0.0,0.00

HUMID 52.15 IMPLIED_C_VBD 3359,21.033325,248,0

TEMP 10.77 GPS 250623,151058,4736.192,-12256.729,1,1.0,3,15.4

INTERNAL_PRESSURE 8.03562

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 760 1096 12310.75 nil 0 0 0.00

Pitch_motor 26 242 93.33 nil 0 0 0.00

Roll_motor 62 199 185.06 nil 0 0 0.00

Iridium 221 191 628.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 2411 5 181.89 SciCon 3389 7 355.58

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1417 0 6.68

Compass 1263 5 93.08

RAFOS 2088 40 1230.54

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

7.09 16386 -146.63 -1.16 0.00 493.9 570.8 416.9 195.1 2250.4 0.00 0.00 0 84.12 71.67 0.00 0.00 0.005 0.000 0.000 2287.06 2373.00 2201.12 195.44 2250.94 0 0 0 15.76 30.00 30.00

84.64 18983 -146.63 -1.16 -80.00 2289.8 2375.2 2204.2 195.1 2250.2 3.18 -2.45 14 163.77 52.05 8.25 3.87 0.005 0.243 0.121 3897.47 3984.00 3810.94 1219.69 807.81 0 0 0 15.79 15.62 15.70

392.90 3205 -146.63 -0.89 0.00 3900.8 3984.2 3817.3 1219.9 807.6 38.85 -13.83 73 401.92 0.00 0.47 3.78 0.000 0.167 0.060 3901.22 3984.75 3817.69 1284.50 2292.31 0 0 0 30.00 15.76 15.82

591.15 420 -146.63 -0.83 80.00 3901.4 3985.5 3817.4 1285.4 2292.2 58.22 -9.05 103 600.11 0.00 0.00 3.96 0.000 0.000 0.122 3902.59 3986.25 3818.94 1285.06 3742.88 0 0 0 30.00 30.00 15.81

826.92 3205 -146.63 -0.69 0.00 3902.3 3985.4 3819.2 1285.1 3742.2 85.91 -12.75 149 835.56 0.00 0.34 3.58 0.000 0.148 0.044 3902.53 3985.44 3819.62 1335.69 2246.25 0 0 0 30.00 15.83 15.87

1022.84 420 -146.63 -0.76 80.00 3902.8 3985.8 3819.8 1335.9 2246.6 101.03 -7.29 169 1031.88 0.00 0.00 4.09 0.000 0.000 0.123 3902.19 3984.88 3819.50 1336.50 3742.12 0 0 0 30.00 30.00 15.85

1211.02 1060 -146.63 -0.76 0.00 3903.0 3985.6 3820.5 1336.3 3740.8 117.80 -9.33 206 1219.90 0.00 0.00 3.61 0.000 0.000 0.043 3903.09 3985.81 3820.38 1336.88 2247.38 0 0 0 30.00 30.00 15.91

1404.12 4517 -146.63 -0.84 80.00 3903.0 3985.6 3820.4 1336.4 2247.5 131.60 -7.11 226 1417.20 0.00 0.31 4.06 0.000 0.062 0.123 3903.12 3986.25 3820.00 1274.69 3740.50 0 0 0 30.00 15.95 15.92

1456.39 3205 -146.63 -0.70 0.00 3902.9 3985.7 3820.2 1274.7 3739.8 137.34 -11.73 236 1465.89 0.00 0.44 3.58 0.000 0.151 0.044 3903.22 3985.81 3820.62 1334.12 2244.44 0 0 0 30.00 15.92 15.99

1621 end dive: TARGET_DEPTH_EXCEEDED

state 1621 begin apogee

1623.15 10243 0.00 -0.28 0.00 3902.8 3985.6 3820.1 1334.3 2151.7 150.20 -7.31 253 1749.66 113.93 0.69 0.09 1.097 0.126 0.199 3298.81 3395.69 3201.94 1435.94 2204.25 0 0 0 11.41 15.96 15.36

1751 end apogee: CONTROL_FINISHED_OK

state 1751 begin climb

1751.26 10759 146.63 1.16 -80.00 3296.8 3392.9 3200.6 1436.1 2204.2 154.57 0.00 265 1894.16 118.90 2.39 4.30 1.058 0.103 0.151 2699.38 2798.88 2599.88 1783.75 717.00 0 0 0 11.26 15.40 15.17

1913.40 1156 146.63 1.07 0.00 2695.7 2791.4 2600.0 1783.4 716.9 141.43 12.98 293 1922.68 0.00 0.00 3.91 0.000 0.000 0.072 2694.38 2790.19 2598.56 1783.56 2193.94 0 0 0 30.00 30.00 15.41

2108.24 16646 146.63 1.07 80.00 2692.9 2788.5 2597.3 1783.8 2194.2 115.09 12.71 313 2117.77 0.00 0.00 4.06 0.000 0.000 0.136 2695.28 2790.38 2600.19 1783.75 3643.75 0 0 0 30.00 30.00 15.66

2167.02 21639 146.63 0.93 0.00 2692.2 2787.8 2596.7 1783.5 3643.8 105.91 16.37 324 2176.58 0.00 0.50 3.69 0.000 0.177 0.054 2690.53 2786.44 2594.62 1719.31 2157.88 0 0 0 30.00 15.68 15.74

2364.20 10403 169.03 1.06 0.00 2691.4 2787.6 2595.2 1718.9 2157.9 86.13 8.96 343 2386.49 18.82 0.28 0.00 0.947 0.075 0.000 2608.12 2708.00 2508.25 1770.06 2158.25 0 0 0 11.61 15.80 30.00

2574.13 388 169.03 1.10 80.00 2604.6 2703.4 2505.7 1769.8 2158.1 62.95 10.90 364 2583.59 0.00 0.00 4.17 0.000 0.000 0.132 2606.22 2704.56 2507.88 1770.44 3642.25 0 0 0 30.00 30.00 15.75

2634.74 5253 169.03 0.89 0.00 2604.0 2702.7 2505.4 1769.9 3643.0 55.07 13.22 374 2647.86 0.00 0.45 3.71 0.000 0.172 0.053 2603.94 2702.62 2505.25 1710.19 2157.25 0 0 0 30.00 15.65 15.70

2832.16 10403 219.53 1.12 0.00 2603.4 2702.6 2504.2 1710.1 2156.6 38.70 7.66 409 2880.39 40.06 0.43 0.00 0.954 0.064 0.000 2402.66 2513.81 2291.50 1783.62 2156.81 0 0 0 11.32 15.83 30.00

3064.65 8614 226.20 1.21 80.00 2397.4 2507.9 2286.8 1783.6 2156.7 14.55 9.69 455 3083.54 6.82 0.00 4.18 0.710 0.000 0.135 2377.06 2488.12 2266.00 1783.50 3645.25 0 0 0 11.39 30.00 15.72

3313.22 11431 429.53 1.58 0.00 2372.3 2484.4 2260.2 1783.6 3644.9 4.00 0.58 502 3382.18 54.85 0.64 3.66 0.928 0.059 0.049 2084.94 2212.19 1957.69 1893.94 2155.94 0 0 0 11.33 15.82 15.83

3382 end climb: NO_VERTICAL_VELOCITY

state 3383 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	37	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	2.9610405	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	13.342293	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	250623,140031,4736.428,-12256.520,24,1.3,25,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,140627,4736.444,-12256.508,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	186.3,985,-17.6,-10.000,-21.21,2209,0.151
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	8000307

MODEM_MSG	CACST,8,0,20230625142500.497467,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,91.0,9.27,-100,-6.27,-01,-0.24,00,925,0025,0,1,00,00*32	_24V_AH	14.77,14.772
NAV	1687705145,8.2,start	_10V_AH	14.73,0.000
NET	xmit part outbox0032.n 1724 0	FG_AHR_24Vo	13.522
NET_PING	1687704616,29,386.562012,11.600000,-0.513346	FG_AHR_10Vo	3.004
FREEZE	3.31,13.793,-1.528,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3693.05,282.98,0.903,0,500.8,582.1,419.4,686.65	MEM2	944332,38,101656,91
SM_GC	1.82,0.00,10.83,0.34,0.000,0.041,0.098,496.1,575.4,416.7,196.4,2295.6,0,0,0,30.00,15.40,15.41	DATA_FILE_SIZE	16147,514
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	184795,0
IRIDIUM_FIX	4738.47,-12353.81,250623,140208	SDSIZE	3887104,3860736
TCM_TEMP	15.59	SDFILEDIR	349,38
SC_FREEKB	3866944	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687701600,47.60500,-122.95000,0.631,925.0	MAGCAL	1.000000,0.014288,-0.172025,0.020357,1.152989,0.226249,0.174436,-0.161976,1.040279,369.5,-2264.9,112.6,36,0.0716,0
RAFOS_FIX	4736.116211,-12257.000000,250623,131300,3,255,1.71	IMPLIED_C_PITCH	1547,19.23,248,0.0,0.00
HUMID	52.15	IMPLIED_C_VBD	3359,21.033325,248,0
TEMP	10.77	GPS	250623,151058,4736.192,-12256.729,1,1.0,3,15.4
INTERNAL_PRESSURE	8.03562

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	760	1096	12310.75	nil	0	0	0.00
Pitch_motor	26	242	93.33	nil	0	0	0.00
Roll_motor	62	199	185.06	nil	0	0	0.00
Iridium	221	191	628.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	2411	5	181.89	SciCon	3389	7	355.58
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1417	0	6.68
Compass	1263	5	93.08
RAFOS	2088	40	1230.54
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
7.09	16386	-146.63	-1.16	0.00	493.9	570.8	416.9	195.1	2250.4	0.00	0.00	0	84.12	71.67	0.00	0.00	0.005	0.000	0.000	2287.06	2373.00	2201.12	195.44	2250.94	0	0	0	15.76	30.00	30.00
84.64	18983	-146.63	-1.16	-80.00	2289.8	2375.2	2204.2	195.1	2250.2	3.18	-2.45	14	163.77	52.05	8.25	3.87	0.005	0.243	0.121	3897.47	3984.00	3810.94	1219.69	807.81	0	0	0	15.79	15.62	15.70
392.90	3205	-146.63	-0.89	0.00	3900.8	3984.2	3817.3	1219.9	807.6	38.85	-13.83	73	401.92	0.00	0.47	3.78	0.000	0.167	0.060	3901.22	3984.75	3817.69	1284.50	2292.31	0	0	0	30.00	15.76	15.82
591.15	420	-146.63	-0.83	80.00	3901.4	3985.5	3817.4	1285.4	2292.2	58.22	-9.05	103	600.11	0.00	0.00	3.96	0.000	0.000	0.122	3902.59	3986.25	3818.94	1285.06	3742.88	0	0	0	30.00	30.00	15.81
826.92	3205	-146.63	-0.69	0.00	3902.3	3985.4	3819.2	1285.1	3742.2	85.91	-12.75	149	835.56	0.00	0.34	3.58	0.000	0.148	0.044	3902.53	3985.44	3819.62	1335.69	2246.25	0	0	0	30.00	15.83	15.87
1022.84	420	-146.63	-0.76	80.00	3902.8	3985.8	3819.8	1335.9	2246.6	101.03	-7.29	169	1031.88	0.00	0.00	4.09	0.000	0.000	0.123	3902.19	3984.88	3819.50	1336.50	3742.12	0	0	0	30.00	30.00	15.85
1211.02	1060	-146.63	-0.76	0.00	3903.0	3985.6	3820.5	1336.3	3740.8	117.80	-9.33	206	1219.90	0.00	0.00	3.61	0.000	0.000	0.043	3903.09	3985.81	3820.38	1336.88	2247.38	0	0	0	30.00	30.00	15.91
1404.12	4517	-146.63	-0.84	80.00	3903.0	3985.6	3820.4	1336.4	2247.5	131.60	-7.11	226	1417.20	0.00	0.31	4.06	0.000	0.062	0.123	3903.12	3986.25	3820.00	1274.69	3740.50	0	0	0	30.00	15.95	15.92
1456.39	3205	-146.63	-0.70	0.00	3902.9	3985.7	3820.2	1274.7	3739.8	137.34	-11.73	236	1465.89	0.00	0.44	3.58	0.000	0.151	0.044	3903.22	3985.81	3820.62	1334.12	2244.44	0	0	0	30.00	15.92	15.99
1621	end dive: TARGET_DEPTH_EXCEEDED
state	1621	begin apogee
1623.15	10243	0.00	-0.28	0.00	3902.8	3985.6	3820.1	1334.3	2151.7	150.20	-7.31	253	1749.66	113.93	0.69	0.09	1.097	0.126	0.199	3298.81	3395.69	3201.94	1435.94	2204.25	0	0	0	11.41	15.96	15.36
1751	end apogee: CONTROL_FINISHED_OK
state	1751	begin climb
1751.26	10759	146.63	1.16	-80.00	3296.8	3392.9	3200.6	1436.1	2204.2	154.57	0.00	265	1894.16	118.90	2.39	4.30	1.058	0.103	0.151	2699.38	2798.88	2599.88	1783.75	717.00	0	0	0	11.26	15.40	15.17
1913.40	1156	146.63	1.07	0.00	2695.7	2791.4	2600.0	1783.4	716.9	141.43	12.98	293	1922.68	0.00	0.00	3.91	0.000	0.000	0.072	2694.38	2790.19	2598.56	1783.56	2193.94	0	0	0	30.00	30.00	15.41
2108.24	16646	146.63	1.07	80.00	2692.9	2788.5	2597.3	1783.8	2194.2	115.09	12.71	313	2117.77	0.00	0.00	4.06	0.000	0.000	0.136	2695.28	2790.38	2600.19	1783.75	3643.75	0	0	0	30.00	30.00	15.66
2167.02	21639	146.63	0.93	0.00	2692.2	2787.8	2596.7	1783.5	3643.8	105.91	16.37	324	2176.58	0.00	0.50	3.69	0.000	0.177	0.054	2690.53	2786.44	2594.62	1719.31	2157.88	0	0	0	30.00	15.68	15.74
2364.20	10403	169.03	1.06	0.00	2691.4	2787.6	2595.2	1718.9	2157.9	86.13	8.96	343	2386.49	18.82	0.28	0.00	0.947	0.075	0.000	2608.12	2708.00	2508.25	1770.06	2158.25	0	0	0	11.61	15.80	30.00
2574.13	388	169.03	1.10	80.00	2604.6	2703.4	2505.7	1769.8	2158.1	62.95	10.90	364	2583.59	0.00	0.00	4.17	0.000	0.000	0.132	2606.22	2704.56	2507.88	1770.44	3642.25	0	0	0	30.00	30.00	15.75
2634.74	5253	169.03	0.89	0.00	2604.0	2702.7	2505.4	1769.9	3643.0	55.07	13.22	374	2647.86	0.00	0.45	3.71	0.000	0.172	0.053	2603.94	2702.62	2505.25	1710.19	2157.25	0	0	0	30.00	15.65	15.70
2832.16	10403	219.53	1.12	0.00	2603.4	2702.6	2504.2	1710.1	2156.6	38.70	7.66	409	2880.39	40.06	0.43	0.00	0.954	0.064	0.000	2402.66	2513.81	2291.50	1783.62	2156.81	0	0	0	11.32	15.83	30.00
3064.65	8614	226.20	1.21	80.00	2397.4	2507.9	2286.8	1783.6	2156.7	14.55	9.69	455	3083.54	6.82	0.00	4.18	0.710	0.000	0.135	2377.06	2488.12	2266.00	1783.50	3645.25	0	0	0	11.39	30.00	15.72
3313.22	11431	429.53	1.58	0.00	2372.3	2484.4	2260.2	1783.6	3644.9	4.00	0.58	502	3382.18	54.85	0.64	3.66	0.928	0.059	0.049	2084.94	2212.19	1957.69	1893.94	2155.94	0	0	0	11.33	15.82	15.83
3382	end climb: NO_VERTICAL_VELOCITY
state	3383	begin surface