Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 39 * 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 39 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 3.0453217 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 13.70829 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 3.0453217 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.70829 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 39 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 250623,160227,4736.128,-12256.522,1,1.6,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,160602,4736.142,-12256.509,3,1.0,5,15.4 MHEAD_RNG_PITCHd_Wd 210.3,508,-27.2,-10.000,-30.00,969,0.172

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:

NET xmit part outbox0034.n 1746 18 _24V_AH 14.82,15.190

NET_PING 1687710912,29,391.614014,15.200000,-0.524510 _10V_AH 14.79,0.000

MODEM_MSG CACST,8,0,20230625162500.289102,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-12.8,8.61,-100,-5.61,-01,-0.10,90,925,0025,0,1,00,00*1E FG_AHR_24Vo 13.882

NAV 1687712172,0.3,0,stop FG_AHR_10Vo 3.099

FREEZE 5.18,13.358,-1.545,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2853.61,356.42,0.899,0,500.6,584.9,416.2,686.70 MEM2 944424,33,101664,91

SM_GC 1.96,0.00,11.07,3.48,0.000,0.041,0.047,496.0,577.6,414.5,194.9,2247.6,0,0,0,30.00,15.44,15.46 DATA_FILE_SIZE 9729,362

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 183628,0

IRIDIUM_FIX 4737.86,-12251.79,250623,151209 SDSIZE 3887104,3860032

TCM_TEMP 15.68 SDFILEDIR 367,40

SC_FREEKB 3866304 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 1,1687709400,47.60500,-122.95000,0.445,652.6 MAGCAL 1.000000,0.050569,-0.001159,-0.007920,1.139254,0.263610,0.049208,-0.184856,0.939593,-553.0,-2543.1,541.1,36,0.0491,0

RAFOS_FIX 4736.360352,-12256.725586,250623,161600,3,255,0.43 IMPLIED_C_PITCH 1531,18.89,161,0.0,0.00

HUMID 52.16 IMPLIED_C_VBD 3335,20.244677,161,0

TEMP 11.02 GPS 250623,165640,4735.938,-12256.773,1,1.5,5,15.4

INTERNAL_PRESSURE 8.05066

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 740 1088 11938.06 nil 0 0 0.00

Pitch_motor 27 245 99.26 nil 0 0 0.00

Roll_motor 62 192 179.68 nil 0 0 0.00

Iridium 139 190 394.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.20 nil 0 0 0.00

Core 1914 5 144.96 SciCon 2470 7 261.02

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 858 0 4.06

Compass 919 5 67.98

RAFOS 2206 40 1305.13

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

7.12 16386 -63.69 -1.59 0.00 494.2 570.6 417.7 196.4 2251.4 0.00 0.00 0 84.79 72.35 0.00 0.00 0.005 0.000 0.000 2315.22 2395.62 2234.81 196.19 2252.19 0 0 0 14.14 30.00 30.00

85.32 18983 -136.43 -1.68 -80.00 2318.0 2396.5 2239.5 196.4 2251.3 3.30 -2.32 13 156.88 45.99 7.32 3.89 0.005 0.245 0.119 3856.50 3941.06 3771.94 1093.44 807.81 0 0 0 15.75 15.59 15.68

170.92 3205 -136.43 -1.43 0.00 3857.8 3940.9 3774.6 1093.5 807.9 10.89 -13.10 28 179.63 0.00 0.46 3.79 0.000 0.198 0.058 3858.50 3942.00 3775.00 1154.81 2292.31 0 0 0 30.00 15.67 15.73

363.78 388 -136.43 -1.40 80.00 3858.3 3941.4 3775.2 1154.4 2292.3 39.69 -14.28 66 372.60 0.00 0.00 3.96 0.000 0.000 0.117 3858.88 3941.50 3776.25 1154.62 3741.50 0 0 0 30.00 30.00 15.76

466.01 3205 -136.43 -1.22 0.00 3858.8 3941.8 3775.8 1154.4 3741.4 57.59 -17.71 86 474.74 0.00 0.38 3.61 0.000 0.186 0.043 3859.66 3942.06 3777.25 1206.00 2245.81 0 0 0 30.00 15.75 15.83

661.84 4225 -136.43 -1.32 0.00 3859.5 3941.6 3777.3 1206.1 2246.0 81.95 -12.28 106 664.09 0.00 0.24 0.00 0.000 0.068 0.000 3859.88 3941.75 3778.00 1162.75 2246.19 0 0 0 30.00 15.85 30.00

852.33 260 -136.43 -1.32 80.00 3859.9 3941.7 3778.2 1162.9 2245.9 109.38 -15.03 125 864.96 0.00 0.00 4.18 0.000 0.000 0.116 3861.03 3942.31 3779.75 1162.62 3741.50 0 0 0 30.00 30.00 15.08

869.10 3205 -136.43 -1.01 0.00 3859.6 3940.4 3778.9 1162.6 3741.6 112.04 -15.18 128 882.16 0.00 0.75 3.74 0.000 0.177 0.044 3861.22 3942.31 3780.12 1255.38 2246.62 0 0 0 30.00 15.64 15.04

1066.26 4485 -136.43 -1.22 80.00 3861.3 3942.5 3780.1 1255.5 2246.2 133.91 -10.86 149 1079.45 0.00 0.40 4.09 0.000 0.059 0.119 3860.91 3941.62 3780.19 1187.50 3739.75 0 0 0 30.00 15.80 15.76

1122.86 3205 -136.43 -1.14 0.00 3860.8 3941.8 3779.9 1187.1 3740.9 142.90 -17.12 160 1131.73 0.00 0.31 3.62 0.000 0.179 0.043 3860.44 3941.50 3779.38 1223.62 2246.62 0 0 0 30.00 15.76 15.82

1178 end dive: TARGET_DEPTH_EXCEEDED

state 1178 begin apogee

1180.42 10243 0.00 -0.28 0.00 3861.0 3941.8 3780.2 1224.4 2150.2 150.44 -13.44 166 1301.40 107.44 1.50 0.10 1.088 0.142 0.193 3300.34 3396.69 3204.00 1434.88 2203.19 0 0 0 11.50 15.77 15.31

1302 end apogee: CONTROL_FINISHED_OK

state 1302 begin climb

1303.03 10759 136.43 1.68 -80.00 3297.2 3392.8 3201.6 1434.8 2203.1 156.02 0.00 177 1440.53 111.29 3.33 4.31 1.054 0.102 0.152 2741.00 2839.00 2643.00 1909.81 716.69 0 0 0 11.30 15.37 15.18

1448.97 1156 136.43 1.64 0.00 2737.3 2832.2 2642.4 1909.3 716.8 139.72 18.69 202 1458.80 0.00 0.00 3.94 0.000 0.000 0.076 2736.69 2831.44 2641.94 1909.38 2193.50 0 0 0 30.00 30.00 15.37

1642.80 16646 136.43 1.64 80.00 2734.2 2829.6 2638.9 1909.6 2193.8 99.07 21.37 222 1652.30 0.00 0.00 4.07 0.000 0.000 0.134 2733.88 2828.56 2639.19 1909.94 3645.19 0 0 0 30.00 30.00 15.65

1681.53 21639 136.43 1.48 0.00 2733.2 2828.1 2638.4 1909.3 3645.4 90.32 23.26 229 1691.08 0.00 0.47 3.68 0.000 0.210 0.056 2733.19 2828.38 2638.00 1851.81 2157.56 0 0 0 30.00 15.64 15.71

1875.54 18823 136.43 1.57 80.00 2732.7 2828.3 2637.0 1853.0 2157.3 57.08 16.27 249 1889.78 0.00 0.20 4.23 0.000 0.092 0.131 2733.50 2829.12 2637.88 1886.50 3642.75 0 0 0 30.00 15.48 15.46

1934.02 21639 136.43 1.44 0.00 2732.2 2827.8 2636.7 1887.1 3642.1 45.85 19.89 260 1946.95 0.00 0.35 3.77 0.000 0.219 0.055 2734.03 2829.88 2638.19 1845.56 2159.12 0 0 0 30.00 15.48 15.55

2131.15 18563 136.43 1.58 0.00 2731.4 2827.4 2635.5 1845.6 2159.1 18.33 11.46 299 2135.65 0.00 0.27 0.00 0.000 0.085 0.000 2733.25 2828.31 2638.19 1888.81 2159.25 0 0 0 30.00 15.75 30.00

2321.19 10663 197.83 1.76 80.00 2731.5 2827.3 2635.7 1888.2 2158.7 6.81 3.52 335 2384.66 46.86 0.23 4.20 0.923 0.085 0.130 2491.91 2597.00 2386.81 1935.69 3644.19 0 0 0 11.35 15.80 15.54

2464 end climb: NO_VERTICAL_VELOCITY

state 2464 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	39	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	3.0453217	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	13.70829	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	250623,160227,4736.128,-12256.522,1,1.6,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,160602,4736.142,-12256.509,3,1.0,5,15.4	MHEAD_RNG_PITCHd_Wd	210.3,508,-27.2,-10.000,-30.00,969,0.172
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

NET	xmit part outbox0034.n 1746 18	_24V_AH	14.82,15.190
NET_PING	1687710912,29,391.614014,15.200000,-0.524510	_10V_AH	14.79,0.000
MODEM_MSG	CACST,8,0,20230625162500.289102,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-12.8,8.61,-100,-5.61,-01,-0.10,90,925,0025,0,1,00,00*1E	FG_AHR_24Vo	13.882
NAV	1687712172,0.3,0,stop	FG_AHR_10Vo	3.099
FREEZE	5.18,13.358,-1.545,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2853.61,356.42,0.899,0,500.6,584.9,416.2,686.70	MEM2	944424,33,101664,91
SM_GC	1.96,0.00,11.07,3.48,0.000,0.041,0.047,496.0,577.6,414.5,194.9,2247.6,0,0,0,30.00,15.44,15.46	DATA_FILE_SIZE	9729,362
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	183628,0
IRIDIUM_FIX	4737.86,-12251.79,250623,151209	SDSIZE	3887104,3860032
TCM_TEMP	15.68	SDFILEDIR	367,40
SC_FREEKB	3866304	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	1,1687709400,47.60500,-122.95000,0.445,652.6	MAGCAL	1.000000,0.050569,-0.001159,-0.007920,1.139254,0.263610,0.049208,-0.184856,0.939593,-553.0,-2543.1,541.1,36,0.0491,0
RAFOS_FIX	4736.360352,-12256.725586,250623,161600,3,255,0.43	IMPLIED_C_PITCH	1531,18.89,161,0.0,0.00
HUMID	52.16	IMPLIED_C_VBD	3335,20.244677,161,0
TEMP	11.02	GPS	250623,165640,4735.938,-12256.773,1,1.5,5,15.4
INTERNAL_PRESSURE	8.05066

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	740	1088	11938.06	nil	0	0	0.00
Pitch_motor	27	245	99.26	nil	0	0	0.00
Roll_motor	62	192	179.68	nil	0	0	0.00
Iridium	139	190	394.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.20	nil	0	0	0.00
Core	1914	5	144.96	SciCon	2470	7	261.02
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	858	0	4.06
Compass	919	5	67.98
RAFOS	2206	40	1305.13
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
7.12	16386	-63.69	-1.59	0.00	494.2	570.6	417.7	196.4	2251.4	0.00	0.00	0	84.79	72.35	0.00	0.00	0.005	0.000	0.000	2315.22	2395.62	2234.81	196.19	2252.19	0	0	0	14.14	30.00	30.00
85.32	18983	-136.43	-1.68	-80.00	2318.0	2396.5	2239.5	196.4	2251.3	3.30	-2.32	13	156.88	45.99	7.32	3.89	0.005	0.245	0.119	3856.50	3941.06	3771.94	1093.44	807.81	0	0	0	15.75	15.59	15.68
170.92	3205	-136.43	-1.43	0.00	3857.8	3940.9	3774.6	1093.5	807.9	10.89	-13.10	28	179.63	0.00	0.46	3.79	0.000	0.198	0.058	3858.50	3942.00	3775.00	1154.81	2292.31	0	0	0	30.00	15.67	15.73
363.78	388	-136.43	-1.40	80.00	3858.3	3941.4	3775.2	1154.4	2292.3	39.69	-14.28	66	372.60	0.00	0.00	3.96	0.000	0.000	0.117	3858.88	3941.50	3776.25	1154.62	3741.50	0	0	0	30.00	30.00	15.76
466.01	3205	-136.43	-1.22	0.00	3858.8	3941.8	3775.8	1154.4	3741.4	57.59	-17.71	86	474.74	0.00	0.38	3.61	0.000	0.186	0.043	3859.66	3942.06	3777.25	1206.00	2245.81	0	0	0	30.00	15.75	15.83
661.84	4225	-136.43	-1.32	0.00	3859.5	3941.6	3777.3	1206.1	2246.0	81.95	-12.28	106	664.09	0.00	0.24	0.00	0.000	0.068	0.000	3859.88	3941.75	3778.00	1162.75	2246.19	0	0	0	30.00	15.85	30.00
852.33	260	-136.43	-1.32	80.00	3859.9	3941.7	3778.2	1162.9	2245.9	109.38	-15.03	125	864.96	0.00	0.00	4.18	0.000	0.000	0.116	3861.03	3942.31	3779.75	1162.62	3741.50	0	0	0	30.00	30.00	15.08
869.10	3205	-136.43	-1.01	0.00	3859.6	3940.4	3778.9	1162.6	3741.6	112.04	-15.18	128	882.16	0.00	0.75	3.74	0.000	0.177	0.044	3861.22	3942.31	3780.12	1255.38	2246.62	0	0	0	30.00	15.64	15.04
1066.26	4485	-136.43	-1.22	80.00	3861.3	3942.5	3780.1	1255.5	2246.2	133.91	-10.86	149	1079.45	0.00	0.40	4.09	0.000	0.059	0.119	3860.91	3941.62	3780.19	1187.50	3739.75	0	0	0	30.00	15.80	15.76
1122.86	3205	-136.43	-1.14	0.00	3860.8	3941.8	3779.9	1187.1	3740.9	142.90	-17.12	160	1131.73	0.00	0.31	3.62	0.000	0.179	0.043	3860.44	3941.50	3779.38	1223.62	2246.62	0	0	0	30.00	15.76	15.82
1178	end dive: TARGET_DEPTH_EXCEEDED
state	1178	begin apogee
1180.42	10243	0.00	-0.28	0.00	3861.0	3941.8	3780.2	1224.4	2150.2	150.44	-13.44	166	1301.40	107.44	1.50	0.10	1.088	0.142	0.193	3300.34	3396.69	3204.00	1434.88	2203.19	0	0	0	11.50	15.77	15.31
1302	end apogee: CONTROL_FINISHED_OK
state	1302	begin climb
1303.03	10759	136.43	1.68	-80.00	3297.2	3392.8	3201.6	1434.8	2203.1	156.02	0.00	177	1440.53	111.29	3.33	4.31	1.054	0.102	0.152	2741.00	2839.00	2643.00	1909.81	716.69	0	0	0	11.30	15.37	15.18
1448.97	1156	136.43	1.64	0.00	2737.3	2832.2	2642.4	1909.3	716.8	139.72	18.69	202	1458.80	0.00	0.00	3.94	0.000	0.000	0.076	2736.69	2831.44	2641.94	1909.38	2193.50	0	0	0	30.00	30.00	15.37
1642.80	16646	136.43	1.64	80.00	2734.2	2829.6	2638.9	1909.6	2193.8	99.07	21.37	222	1652.30	0.00	0.00	4.07	0.000	0.000	0.134	2733.88	2828.56	2639.19	1909.94	3645.19	0	0	0	30.00	30.00	15.65
1681.53	21639	136.43	1.48	0.00	2733.2	2828.1	2638.4	1909.3	3645.4	90.32	23.26	229	1691.08	0.00	0.47	3.68	0.000	0.210	0.056	2733.19	2828.38	2638.00	1851.81	2157.56	0	0	0	30.00	15.64	15.71
1875.54	18823	136.43	1.57	80.00	2732.7	2828.3	2637.0	1853.0	2157.3	57.08	16.27	249	1889.78	0.00	0.20	4.23	0.000	0.092	0.131	2733.50	2829.12	2637.88	1886.50	3642.75	0	0	0	30.00	15.48	15.46
1934.02	21639	136.43	1.44	0.00	2732.2	2827.8	2636.7	1887.1	3642.1	45.85	19.89	260	1946.95	0.00	0.35	3.77	0.000	0.219	0.055	2734.03	2829.88	2638.19	1845.56	2159.12	0	0	0	30.00	15.48	15.55
2131.15	18563	136.43	1.58	0.00	2731.4	2827.4	2635.5	1845.6	2159.1	18.33	11.46	299	2135.65	0.00	0.27	0.00	0.000	0.085	0.000	2733.25	2828.31	2638.19	1888.81	2159.25	0	0	0	30.00	15.75	30.00
2321.19	10663	197.83	1.76	80.00	2731.5	2827.3	2635.7	1888.2	2158.7	6.81	3.52	335	2384.66	46.86	0.23	4.20	0.923	0.085	0.130	2491.91	2597.00	2386.81	1935.69	3644.19	0	0	0	11.35	15.80	15.54
2464	end climb: NO_VERTICAL_VELOCITY
state	2464	begin surface