Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 40 * 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 40 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 3.0999622 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 13.889012 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 3.0999622 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.889012 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 40 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 250623,165640,4735.938,-12256.773,1,1.5,5,15.4 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 -58.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,170024,4735.933,-12256.758,2,1.4,6,15.4 MHEAD_RNG_PITCHd_Wd 2.6,1162,-17.6,-10.000,-21.21,2209,0.157

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687716251,0.3,start _24V_AH 14.79,15.407

NET xmit part outbox0035.n 1783 5 _10V_AH 14.76,0.000

NET_PING 1687715414,29,787.091980,1.800000,-1.047574 FG_AHR_24Vo 14.069

MODEM_MSG CACST,8,0,20230625172500.478326,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-21.0,7.40,-100,-4.40,-01,0.05,90,925,0025,0,1,00,00*3C FG_AHR_10Vo 3.150

FREEZE 3.48,14.373,-1.503,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3671.55,279.92,0.909,0,500.8,584.1,417.6,686.63 MEM2 944464,31,101664,91

SM_GC 1.70,0.00,10.66,3.44,0.000,0.054,0.049,496.7,577.1,416.3,206.9,2249.6,0,0,0,30.00,15.44,15.46 DATA_FILE_SIZE 12926,485

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 195087,0

IRIDIUM_FIX 4736.00,-12258.89,250623,160339 SDSIZE 3887104,3859680

TCM_TEMP 15.60 SDFILEDIR 376,41

SC_FREEKB 3865984 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 3,1687713900,47.60220,-122.95120,0.478,700.7 MAGCAL 1.000000,-0.011037,-0.077240,0.006499,1.150010,0.257655,0.039475,-0.146516,1.028758,-314.3,-2375.5,118.2,35,0.0431,0

RAFOS_FIX 4736.360352,-12256.725586,250623,161600,3,255,0.43 IMPLIED_C_PITCH 1548,19.17,244,0.0,0.00

HUMID 52.23 IMPLIED_C_VBD 3338,17.231186,244,0

TEMP 10.77 GPS 250623,180501,4736.275,-12256.453,20,1.0,21,15.4

INTERNAL_PRESSURE 8.0406

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 1097 12175.58 nil 0 0 0.00

Pitch_motor 24 249 91.21 nil 0 0 0.00

Roll_motor 70 205 214.02 nil 0 0 0.00

Iridium 146 169 366.40 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 16 15 3.58 nil 0 0 0.00

Core 2359 5 178.30 SciCon 3370 7 358.04

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1322 0 6.25

Compass 1201 5 88.70

RAFOS 2070 40 1222.63

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

6.85 16386 -146.63 -1.16 0.00 493.6 572.1 415.2 194.9 2293.6 0.00 0.00 0 80.55 68.56 0.00 0.00 0.005 0.000 0.000 2212.03 2291.88 2132.19 195.19 2293.94 0 0 0 15.77 30.00 30.00

81.07 18727 -146.63 -1.16 80.00 2214.1 2293.9 2134.4 194.9 2293.3 3.10 -2.21 11 158.74 49.90 8.27 3.96 0.005 0.249 0.119 3898.53 3986.69 3810.38 1219.94 3741.06 0 0 0 15.80 15.63 15.71

385.96 3205 -146.63 -0.82 0.00 3900.3 3985.8 3814.8 1219.8 3740.8 48.40 -16.01 68 395.43 0.00 0.61 3.66 0.000 0.170 0.044 3901.28 3986.88 3815.69 1302.88 2245.62 0 0 0 30.00 15.70 15.76

579.49 292 -146.63 -0.82 80.00 3901.3 3986.4 3816.2 1302.9 2245.2 66.98 -8.93 88 588.82 0.00 0.00 4.12 0.000 0.000 0.121 3900.78 3986.31 3815.25 1303.06 3741.25 0 0 0 30.00 30.00 15.78

792.23 1156 -146.63 -0.73 0.00 3901.9 3986.1 3817.8 1302.9 3740.9 90.46 -10.75 130 800.47 0.00 0.00 3.64 0.000 0.000 0.043 3902.22 3986.88 3817.56 1302.25 2246.12 0 0 0 30.00 30.00 15.86

987.95 292 -146.63 -0.73 80.00 3902.4 3986.6 3818.2 1303.2 2245.6 107.38 -8.37 150 997.25 0.00 0.00 4.09 0.000 0.000 0.122 3902.38 3985.94 3818.81 1302.50 3740.62 0 0 0 30.00 30.00 15.84

1026.52 3237 -146.63 -0.68 0.00 3902.3 3986.4 3818.2 1302.8 3740.8 111.18 -9.79 157 1035.55 0.00 0.23 3.62 0.000 0.150 0.043 3903.12 3986.81 3819.44 1337.62 2245.06 0 0 0 30.00 15.84 15.90

1222.16 4517 -146.63 -0.78 80.00 3902.2 3986.5 3817.9 1337.8 2245.2 125.47 -7.01 177 1235.00 0.00 0.23 4.11 0.000 0.070 0.123 3902.59 3986.31 3818.88 1292.19 3740.06 0 0 0 30.00 15.80 15.77

1268.39 3205 -146.63 -0.68 0.00 3902.6 3986.9 3818.3 1292.4 3741.1 130.20 -10.46 186 1278.48 0.00 0.34 3.66 0.000 0.147 0.043 3902.09 3986.31 3817.88 1338.00 2246.50 0 0 0 30.00 15.78 15.83

1462.75 160 -146.63 -0.77 0.00 3902.9 3986.9 3818.9 1338.1 2245.8 144.64 -7.45 206 1464.65 0.00 0.00 0.00 0.000 0.000 0.000 3902.75 3986.94 3818.56 1337.88 2246.38 0 0 0 30.00 30.00 30.00

1542 end dive: TARGET_DEPTH_EXCEEDED

state 1542 begin apogee

1544.39 10243 0.00 -0.28 0.00 3902.6 3986.2 3818.9 1338.5 2152.1 150.61 -7.48 214 1674.14 115.17 0.67 0.09 1.098 0.125 0.205 3297.97 3397.38 3198.56 1435.94 2203.38 0 0 0 11.31 15.83 15.31

1675 end apogee: CONTROL_FINISHED_OK

state 1675 begin climb

1675.79 10759 146.63 1.16 -80.00 3295.8 3394.5 3197.2 1436.1 2202.9 155.23 0.00 226 1819.98 119.04 2.40 4.31 1.062 0.103 0.152 2697.78 2799.31 2596.25 1783.94 716.94 0 0 0 11.28 15.37 15.17

1848.42 5253 146.63 1.06 0.00 2695.0 2792.5 2597.4 1783.1 716.8 140.52 12.97 256 1858.65 0.00 0.28 3.94 0.000 0.187 0.072 2694.28 2792.06 2596.50 1751.94 2192.81 0 0 0 30.00 15.38 15.43

2042.82 16774 146.63 1.10 80.00 2692.7 2791.2 2594.1 1751.9 2192.4 117.53 11.67 276 2055.97 0.00 0.00 4.07 0.000 0.000 0.135 2690.75 2788.94 2592.56 1751.56 3642.62 0 0 0 30.00 30.00 15.00

2104.18 17414 146.63 1.10 0.00 2691.5 2789.1 2593.9 1751.2 3642.6 109.49 13.31 286 2117.75 0.00 0.00 3.73 0.000 0.000 0.055 2692.12 2790.19 2594.06 1751.81 2156.44 0 0 0 30.00 30.00 15.62

2304.39 18823 146.63 1.15 80.00 2691.2 2789.4 2593.1 1751.4 2156.1 87.83 10.22 307 2317.77 0.00 0.22 4.15 0.000 0.084 0.133 2691.78 2789.69 2593.88 1788.50 3645.38 0 0 0 30.00 15.81 15.76

2331.21 21639 146.63 1.08 0.00 2690.7 2788.4 2593.0 1788.8 3645.4 84.25 13.11 312 2341.12 0.00 0.27 3.64 0.000 0.187 0.055 2689.81 2788.06 2591.56 1756.06 2159.31 0 0 0 30.00 15.75 15.81

2525.37 420 148.17 1.13 80.00 2690.6 2788.6 2592.6 1755.8 2159.2 64.12 9.93 332 2534.72 0.00 0.00 4.12 0.000 0.000 0.132 2690.25 2788.38 2592.12 1755.94 3643.75 0 0 0 30.00 30.00 15.85

2573.96 1156 148.17 1.09 0.00 2690.2 2788.1 2592.2 1755.4 3644.1 58.39 12.18 341 2582.93 0.00 0.00 3.62 0.000 0.000 0.054 2690.81 2788.50 2593.12 1755.25 2158.06 0 0 0 30.00 30.00 15.90

2765.97 10403 173.43 1.19 0.00 2690.0 2788.0 2592.0 1755.2 2157.8 40.05 8.83 370 2792.47 21.65 0.25 0.00 0.939 0.082 0.000 2592.84 2697.19 2488.50 1796.88 2157.62 0 0 0 11.44 15.90 30.00

2974.92 0 173.43 1.19 0.00 2586.3 2690.2 2482.5 1796.4 2157.9 17.64 10.65 410 2978.80 0.00 0.00 0.00 0.000 0.000 0.000 2587.25 2690.69 2483.81 1796.44 2158.06 0 0 0 30.00 30.00 30.00

3161.36 10663 301.75 1.42 80.00 2585.7 2689.8 2481.7 1796.4 2157.7 4.76 4.06 447 3275.75 95.82 0.31 4.28 0.934 0.072 0.130 2064.97 2194.69 1935.25 1854.38 3643.81 0 0 0 11.45 15.78 15.35

3365 end climb: NO_VERTICAL_VELOCITY

state 3365 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	40	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	3.0999622	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	13.889012	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	250623,165640,4735.938,-12256.773,1,1.5,5,15.4	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	-58.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,170024,4735.933,-12256.758,2,1.4,6,15.4	MHEAD_RNG_PITCHd_Wd	2.6,1162,-17.6,-10.000,-21.21,2209,0.157
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000307

NAV	1687716251,0.3,start	_24V_AH	14.79,15.407
NET	xmit part outbox0035.n 1783 5	_10V_AH	14.76,0.000
NET_PING	1687715414,29,787.091980,1.800000,-1.047574	FG_AHR_24Vo	14.069
MODEM_MSG	CACST,8,0,20230625172500.478326,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-21.0,7.40,-100,-4.40,-01,0.05,90,925,0025,0,1,00,00*3C	FG_AHR_10Vo	3.150
FREEZE	3.48,14.373,-1.503,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3671.55,279.92,0.909,0,500.8,584.1,417.6,686.63	MEM2	944464,31,101664,91
SM_GC	1.70,0.00,10.66,3.44,0.000,0.054,0.049,496.7,577.1,416.3,206.9,2249.6,0,0,0,30.00,15.44,15.46	DATA_FILE_SIZE	12926,485
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	195087,0
IRIDIUM_FIX	4736.00,-12258.89,250623,160339	SDSIZE	3887104,3859680
TCM_TEMP	15.60	SDFILEDIR	376,41
SC_FREEKB	3865984	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	3,1687713900,47.60220,-122.95120,0.478,700.7	MAGCAL	1.000000,-0.011037,-0.077240,0.006499,1.150010,0.257655,0.039475,-0.146516,1.028758,-314.3,-2375.5,118.2,35,0.0431,0
RAFOS_FIX	4736.360352,-12256.725586,250623,161600,3,255,0.43	IMPLIED_C_PITCH	1548,19.17,244,0.0,0.00
HUMID	52.23	IMPLIED_C_VBD	3338,17.231186,244,0
TEMP	10.77	GPS	250623,180501,4736.275,-12256.453,20,1.0,21,15.4
INTERNAL_PRESSURE	8.0406

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	1097	12175.58	nil	0	0	0.00
Pitch_motor	24	249	91.21	nil	0	0	0.00
Roll_motor	70	205	214.02	nil	0	0	0.00
Iridium	146	169	366.40	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	16	15	3.58	nil	0	0	0.00
Core	2359	5	178.30	SciCon	3370	7	358.04
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1322	0	6.25
Compass	1201	5	88.70
RAFOS	2070	40	1222.63
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
6.85	16386	-146.63	-1.16	0.00	493.6	572.1	415.2	194.9	2293.6	0.00	0.00	0	80.55	68.56	0.00	0.00	0.005	0.000	0.000	2212.03	2291.88	2132.19	195.19	2293.94	0	0	0	15.77	30.00	30.00
81.07	18727	-146.63	-1.16	80.00	2214.1	2293.9	2134.4	194.9	2293.3	3.10	-2.21	11	158.74	49.90	8.27	3.96	0.005	0.249	0.119	3898.53	3986.69	3810.38	1219.94	3741.06	0	0	0	15.80	15.63	15.71
385.96	3205	-146.63	-0.82	0.00	3900.3	3985.8	3814.8	1219.8	3740.8	48.40	-16.01	68	395.43	0.00	0.61	3.66	0.000	0.170	0.044	3901.28	3986.88	3815.69	1302.88	2245.62	0	0	0	30.00	15.70	15.76
579.49	292	-146.63	-0.82	80.00	3901.3	3986.4	3816.2	1302.9	2245.2	66.98	-8.93	88	588.82	0.00	0.00	4.12	0.000	0.000	0.121	3900.78	3986.31	3815.25	1303.06	3741.25	0	0	0	30.00	30.00	15.78
792.23	1156	-146.63	-0.73	0.00	3901.9	3986.1	3817.8	1302.9	3740.9	90.46	-10.75	130	800.47	0.00	0.00	3.64	0.000	0.000	0.043	3902.22	3986.88	3817.56	1302.25	2246.12	0	0	0	30.00	30.00	15.86
987.95	292	-146.63	-0.73	80.00	3902.4	3986.6	3818.2	1303.2	2245.6	107.38	-8.37	150	997.25	0.00	0.00	4.09	0.000	0.000	0.122	3902.38	3985.94	3818.81	1302.50	3740.62	0	0	0	30.00	30.00	15.84
1026.52	3237	-146.63	-0.68	0.00	3902.3	3986.4	3818.2	1302.8	3740.8	111.18	-9.79	157	1035.55	0.00	0.23	3.62	0.000	0.150	0.043	3903.12	3986.81	3819.44	1337.62	2245.06	0	0	0	30.00	15.84	15.90
1222.16	4517	-146.63	-0.78	80.00	3902.2	3986.5	3817.9	1337.8	2245.2	125.47	-7.01	177	1235.00	0.00	0.23	4.11	0.000	0.070	0.123	3902.59	3986.31	3818.88	1292.19	3740.06	0	0	0	30.00	15.80	15.77
1268.39	3205	-146.63	-0.68	0.00	3902.6	3986.9	3818.3	1292.4	3741.1	130.20	-10.46	186	1278.48	0.00	0.34	3.66	0.000	0.147	0.043	3902.09	3986.31	3817.88	1338.00	2246.50	0	0	0	30.00	15.78	15.83
1462.75	160	-146.63	-0.77	0.00	3902.9	3986.9	3818.9	1338.1	2245.8	144.64	-7.45	206	1464.65	0.00	0.00	0.00	0.000	0.000	0.000	3902.75	3986.94	3818.56	1337.88	2246.38	0	0	0	30.00	30.00	30.00
1542	end dive: TARGET_DEPTH_EXCEEDED
state	1542	begin apogee
1544.39	10243	0.00	-0.28	0.00	3902.6	3986.2	3818.9	1338.5	2152.1	150.61	-7.48	214	1674.14	115.17	0.67	0.09	1.098	0.125	0.205	3297.97	3397.38	3198.56	1435.94	2203.38	0	0	0	11.31	15.83	15.31
1675	end apogee: CONTROL_FINISHED_OK
state	1675	begin climb
1675.79	10759	146.63	1.16	-80.00	3295.8	3394.5	3197.2	1436.1	2202.9	155.23	0.00	226	1819.98	119.04	2.40	4.31	1.062	0.103	0.152	2697.78	2799.31	2596.25	1783.94	716.94	0	0	0	11.28	15.37	15.17
1848.42	5253	146.63	1.06	0.00	2695.0	2792.5	2597.4	1783.1	716.8	140.52	12.97	256	1858.65	0.00	0.28	3.94	0.000	0.187	0.072	2694.28	2792.06	2596.50	1751.94	2192.81	0	0	0	30.00	15.38	15.43
2042.82	16774	146.63	1.10	80.00	2692.7	2791.2	2594.1	1751.9	2192.4	117.53	11.67	276	2055.97	0.00	0.00	4.07	0.000	0.000	0.135	2690.75	2788.94	2592.56	1751.56	3642.62	0	0	0	30.00	30.00	15.00
2104.18	17414	146.63	1.10	0.00	2691.5	2789.1	2593.9	1751.2	3642.6	109.49	13.31	286	2117.75	0.00	0.00	3.73	0.000	0.000	0.055	2692.12	2790.19	2594.06	1751.81	2156.44	0	0	0	30.00	30.00	15.62
2304.39	18823	146.63	1.15	80.00	2691.2	2789.4	2593.1	1751.4	2156.1	87.83	10.22	307	2317.77	0.00	0.22	4.15	0.000	0.084	0.133	2691.78	2789.69	2593.88	1788.50	3645.38	0	0	0	30.00	15.81	15.76
2331.21	21639	146.63	1.08	0.00	2690.7	2788.4	2593.0	1788.8	3645.4	84.25	13.11	312	2341.12	0.00	0.27	3.64	0.000	0.187	0.055	2689.81	2788.06	2591.56	1756.06	2159.31	0	0	0	30.00	15.75	15.81
2525.37	420	148.17	1.13	80.00	2690.6	2788.6	2592.6	1755.8	2159.2	64.12	9.93	332	2534.72	0.00	0.00	4.12	0.000	0.000	0.132	2690.25	2788.38	2592.12	1755.94	3643.75	0	0	0	30.00	30.00	15.85
2573.96	1156	148.17	1.09	0.00	2690.2	2788.1	2592.2	1755.4	3644.1	58.39	12.18	341	2582.93	0.00	0.00	3.62	0.000	0.000	0.054	2690.81	2788.50	2593.12	1755.25	2158.06	0	0	0	30.00	30.00	15.90
2765.97	10403	173.43	1.19	0.00	2690.0	2788.0	2592.0	1755.2	2157.8	40.05	8.83	370	2792.47	21.65	0.25	0.00	0.939	0.082	0.000	2592.84	2697.19	2488.50	1796.88	2157.62	0	0	0	11.44	15.90	30.00
2974.92	0	173.43	1.19	0.00	2586.3	2690.2	2482.5	1796.4	2157.9	17.64	10.65	410	2978.80	0.00	0.00	0.00	0.000	0.000	0.000	2587.25	2690.69	2483.81	1796.44	2158.06	0	0	0	30.00	30.00	30.00
3161.36	10663	301.75	1.42	80.00	2585.7	2689.8	2481.7	1796.4	2157.7	4.76	4.06	447	3275.75	95.82	0.31	4.28	0.934	0.072	0.130	2064.97	2194.69	1935.25	1854.38	3643.81	0	0	0	11.45	15.78	15.35
3365	end climb: NO_VERTICAL_VELOCITY
state	3365	begin surface