Glider dive log

HoodCanal 18Jun23 * SG245 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 245 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2180 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 15 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 0

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 ROLL_MAXERRORS 1 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.9

D_ABORT 175 COMM_SEQ 15 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 360 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 215 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1500 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 18 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.98399144 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 4.9792581 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -191.58917 SEABIRD_T_J 4.3e-06

MASS 72244 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022631494 SEABIRD_C_G -10

NAV_MODE 1 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 235 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3850 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2275 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.98399144 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 4.9792581 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 215 T_ABORT 1440

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 245 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT -1.9 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1500 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022631494 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -191.58917 T_NO_W 60

C_ROLL_CLIMB 2180 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2275 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72244 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 3850 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 360

DIVE 15 MISSION 3 ROLL_MIN 235 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 0

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 190623,081201,4736.631,-12256.092,1,1.1,26,15.4 KALMAN_CONTROL 0.000,0.000

_CALLS 1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_DEPTHo 1.56 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 MHEAD_RNG_PITCHd_Wd 200.5,1556,-17.6,-10.000,-21.21,2209,0.144

GPS2 190623,081530,4736.631,-12256.069,2,0.7,5,15.4 D_GRID 168

SPEED_LIMITS 0.173,0.258 IRON 1.000000,0.002881,-0.090357,0.009926,1.114308,0.146625,0.073813,0.030270,1.024662,-286.976410,-2052.438232,330.035889

TGT_NAME S OSC 8000266

TGT_LATLONG 4735.950,-12256.800 WARN HSCICON 3,0,0,0,0,0 (vee )

TGT_RADIUS 300.000

Post-dive calculations and measurements:

NAV 1687165451,35.4,0,stop _24V_AH 14.85,5.156

NET CACST,8,0,20230619090010.664968,18,32767,45,0102,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,6.8,7.89,-100,-4.89,-01,-0.16,75,10000,5000,0,-1,00,00*47 _10V_AH 14.82,0.000

NET_PING 1687165211,29,961.312500,6.800000,-1.151402 FG_AHR_24Vo 5.158

WARN HSCICON 3,0,0,0,0,0 (vee ) FG_AHR_10Vo 1.006

FREEZE 6.15,13.757,-1.537,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3730.71,290.64,0.928,0,501.1,587.5,414.6,686.58 MEM2 944352,39,101616,91

SM_GC 1.59,0.00,10.99,0.34,0.000,0.050,0.107,497.3,581.1,413.6,197.9,2293.0,0,0,0,30.00,15.45,15.44 DATA_FILE_SIZE 12916,473

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 171283,0

IRIDIUM_FIX 4736.87,-12256.21,190623,070529 SDSIZE 3887104,3870176

TCM_TEMP 15.52 SDFILEDIR 139,16

SC_FREEKB 3873728 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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,0.006956,-0.085907,0.008961,1.105064,0.149463,0.053421,0.055690,1.048096,-326.5,-2054.9,245.2,29,0.0098,1

HUMID 52.17 IMPLIED_C_PITCH 1530,17.51,265,0.0,0.00

TEMP 10.51 IMPLIED_C_VBD 3272,24.699284,265,0

INTERNAL_PRESSURE 8.03107 GPS 190623,092036,4736.244,-12256.337,1,0.7,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 733 1128 12287.27 nil 0 0 0.00

Pitch_motor 26 260 101.93 nil 0 0 0.00

Roll_motor 46 212 148.24 nil 0 0 0.00

Iridium 138 193 399.26 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.25 nil 0 0 0.00

Core 2297 5 174.36 SciCon 3418 7 373.07

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1418 0 6.73

Compass 1196 5 88.67

RAFOS 307 40 182.45

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

7.04 16386 -146.63 -1.16 0.00 495.1 573.3 416.9 197.9 2295.4 0.00 0.00 0 67.91 56.40 0.00 0.00 0.005 0.000 0.000 1916.69 1997.75 1835.62 198.00 2295.81 0 0 0 15.80 30.00 30.00

68.43 18983 -146.63 -1.16 -80.00 1919.8 2004.9 1834.8 197.9 2295.9 3.23 -3.30 11 151.90 55.67 8.29 4.05 0.005 0.260 0.127 3898.72 3987.88 3809.56 1219.44 809.19 0 0 0 15.84 15.66 15.74

155.95 3205 -146.63 -0.75 0.00 3899.3 3987.8 3810.9 1219.8 809.4 12.01 -14.85 26 168.48 0.00 0.74 3.71 0.000 0.183 0.064 3899.56 3988.62 3810.50 1319.19 2292.19 0 0 0 30.00 15.75 15.80

351.64 292 -146.63 -0.75 80.00 3900.9 3990.3 3811.4 1319.8 2292.0 33.08 -9.64 64 360.46 0.00 0.00 3.89 0.000 0.000 0.129 3901.03 3990.19 3811.88 1319.75 3743.12 0 0 0 30.00 30.00 15.84

389.65 1156 -146.63 -0.70 0.00 3900.3 3989.7 3810.9 1319.7 3742.6 37.24 -10.99 71 398.23 0.00 0.00 3.61 0.000 0.000 0.047 3900.59 3989.94 3811.25 1319.75 2248.00 0 0 0 30.00 30.00 15.89

582.44 160 -146.63 -0.75 0.00 3900.9 3990.2 3811.6 1319.6 2247.8 53.29 -8.11 105 584.30 0.00 0.00 0.00 0.000 0.000 0.000 3900.91 3989.56 3812.25 1319.62 2247.38 0 0 0 30.00 30.00 30.00

772.46 160 -146.63 -0.82 0.00 3901.7 3990.3 3813.1 1319.6 2247.8 68.86 -7.92 124 774.33 0.00 0.00 0.00 0.000 0.000 0.000 3901.50 3990.19 3812.81 1319.62 2247.75 0 0 0 30.00 30.00 30.00

963.85 4257 -146.63 -0.89 0.00 3902.0 3990.1 3813.9 1319.6 2248.0 83.10 -7.38 143 966.11 0.00 0.28 0.00 0.000 0.068 0.000 3901.69 3989.75 3813.62 1268.31 2248.19 0 0 0 30.00 16.00 30.00

1153.63 0 -146.63 -0.89 0.00 3902.4 3990.4 3814.3 1267.1 2248.1 103.05 -10.85 162 1155.49 0.00 0.00 0.00 0.000 0.000 0.000 3901.88 3989.69 3814.06 1267.38 2247.88 0 0 0 30.00 30.00 30.00

1343.67 0 -146.63 -0.89 0.00 3902.5 3990.2 3814.8 1267.4 2247.6 123.01 -10.58 181 1345.55 0.00 0.00 0.00 0.000 0.000 0.000 3901.94 3989.12 3814.75 1267.56 2247.44 0 0 0 30.00 30.00 30.00

1527.00 0 -146.63 -0.89 0.00 3902.5 3990.1 3815.0 1267.4 2247.4 142.12 -10.25 200 1528.87 0.00 0.00 0.00 0.000 0.000 0.000 3902.09 3989.75 3814.44 1267.56 2247.19 0 0 0 30.00 30.00 30.00

1607 end dive: TARGET_DEPTH_EXCEEDED

state 1607 begin apogee

1608.86 10243 0.00 -0.28 0.00 3902.4 3990.1 3814.7 1267.2 2151.2 150.16 -9.94 208 1732.31 110.81 1.20 0.09 1.129 0.139 0.213 3300.38 3403.12 3197.62 1434.69 2200.50 0 0 0 11.44 16.02 15.38

1733 end apogee: CONTROL_FINISHED_OK

state 1733 begin climb

1733.77 10243 146.63 1.16 0.00 3297.3 3399.3 3195.4 1434.7 2200.7 154.70 0.00 219 1863.66 113.89 2.41 0.00 1.090 0.108 0.000 2700.19 2804.69 2595.69 1783.69 2200.31 0 0 0 11.23 15.44 30.00

2047.80 16774 146.63 1.13 80.00 2693.8 2795.8 2591.9 1783.4 2200.6 125.27 12.64 250 2060.52 0.00 0.00 4.03 0.000 0.000 0.144 2694.00 2795.62 2592.38 1783.94 3641.69 0 0 0 30.00 30.00 15.61

2139.79 21639 146.63 0.98 0.00 2692.8 2793.8 2591.8 1784.1 3642.9 111.27 15.17 268 2149.37 0.00 0.42 3.70 0.000 0.192 0.062 2692.28 2793.06 2591.50 1731.75 2160.19 0 0 0 30.00 15.69 15.74

2334.91 10663 157.22 1.07 80.00 2692.3 2793.8 2590.9 1731.5 2160.9 91.64 9.51 288 2355.67 9.44 0.22 4.03 0.867 0.082 0.140 2656.88 2760.00 2553.75 1771.38 3642.94 0 0 0 11.36 15.85 15.75

2419.14 5253 157.22 0.97 0.00 2656.1 2758.6 2553.6 1772.0 3642.9 81.26 12.69 304 2429.22 0.00 0.32 3.65 0.000 0.186 0.059 2657.91 2759.75 2556.06 1729.75 2159.19 0 0 0 30.00 15.78 15.84

2619.20 10663 195.15 1.12 80.00 2655.5 2758.4 2552.6 1729.5 2159.1 63.68 8.24 323 2663.88 30.65 0.29 4.11 0.992 0.073 0.139 2502.09 2614.00 2390.19 1783.50 3645.06 0 0 0 11.60 15.89 15.63

2708.12 5253 195.15 1.06 0.00 2499.3 2610.2 2388.4 1783.2 3645.8 53.46 13.28 339 2717.49 0.00 0.26 3.68 0.000 0.188 0.058 2501.56 2613.12 2390.00 1749.69 2159.69 0 0 0 30.00 15.66 15.72

2899.72 2209 198.53 1.18 0.00 2497.3 2608.9 2385.7 1751.0 2158.8 34.32 9.84 374 2903.92 0.00 0.25 0.00 0.000 0.076 0.000 2497.53 2609.25 2385.81 1795.44 2159.25 0 0 0 30.00 15.82 30.00

3089.75 8614 242.55 1.28 80.00 2496.9 2608.8 2385.0 1795.2 2159.1 16.33 7.96 412 3141.23 36.30 0.00 4.11 0.956 0.000 0.139 2308.25 2432.81 2183.69 1795.69 3644.38 0 0 0 11.44 30.00 15.65

3369.93 11431 463.01 1.66 0.00 2302.8 2425.8 2179.8 1796.2 3644.6 6.28 -0.21 466 3411.53 29.29 0.70 3.65 0.938 0.060 0.057 2154.94 2286.44 2023.44 1911.50 2155.81 0 0 0 11.39 15.84 15.85

3412 end climb: NO_VERTICAL_VELOCITY

state 3412 begin surface

ID	245	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2180	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	15	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	0
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	ROLL_MAXERRORS	1	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.9
D_ABORT	175	COMM_SEQ	15	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	360	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	215	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1500	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	18	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.98399144	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	4.9792581	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-191.58917	SEABIRD_T_J	4.3e-06
MASS	72244	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022631494	SEABIRD_C_G	-10
NAV_MODE	1	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	235	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3850	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2275	ALTIM_FREQUENCY	13

GPS1	190623,081201,4736.631,-12256.092,1,1.1,26,15.4	KALMAN_CONTROL	0.000,0.000
_CALLS	1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_DEPTHo	1.56	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	MHEAD_RNG_PITCHd_Wd	200.5,1556,-17.6,-10.000,-21.21,2209,0.144
GPS2	190623,081530,4736.631,-12256.069,2,0.7,5,15.4	D_GRID	168
SPEED_LIMITS	0.173,0.258	IRON	1.000000,0.002881,-0.090357,0.009926,1.114308,0.146625,0.073813,0.030270,1.024662,-286.976410,-2052.438232,330.035889
TGT_NAME	S	OSC	8000266
TGT_LATLONG	4735.950,-12256.800	WARN	HSCICON 3,0,0,0,0,0 (vee )
TGT_RADIUS	300.000

NAV	1687165451,35.4,0,stop	_24V_AH	14.85,5.156
NET	CACST,8,0,20230619090010.664968,18,32767,45,0102,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,6.8,7.89,-100,-4.89,-01,-0.16,75,10000,5000,0,-1,00,00*47	_10V_AH	14.82,0.000
NET_PING	1687165211,29,961.312500,6.800000,-1.151402	FG_AHR_24Vo	5.158
WARN	HSCICON 3,0,0,0,0,0 (vee )	FG_AHR_10Vo	1.006
FREEZE	6.15,13.757,-1.537,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3730.71,290.64,0.928,0,501.1,587.5,414.6,686.58	MEM2	944352,39,101616,91
SM_GC	1.59,0.00,10.99,0.34,0.000,0.050,0.107,497.3,581.1,413.6,197.9,2293.0,0,0,0,30.00,15.45,15.44	DATA_FILE_SIZE	12916,473
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	171283,0
IRIDIUM_FIX	4736.87,-12256.21,190623,070529	SDSIZE	3887104,3870176
TCM_TEMP	15.52	SDFILEDIR	139,16
SC_FREEKB	3873728	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
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,0.006956,-0.085907,0.008961,1.105064,0.149463,0.053421,0.055690,1.048096,-326.5,-2054.9,245.2,29,0.0098,1
HUMID	52.17	IMPLIED_C_PITCH	1530,17.51,265,0.0,0.00
TEMP	10.51	IMPLIED_C_VBD	3272,24.699284,265,0
INTERNAL_PRESSURE	8.03107	GPS	190623,092036,4736.244,-12256.337,1,0.7,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	733	1128	12287.27	nil	0	0	0.00
Pitch_motor	26	260	101.93	nil	0	0	0.00
Roll_motor	46	212	148.24	nil	0	0	0.00
Iridium	138	193	399.26	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.25	nil	0	0	0.00
Core	2297	5	174.36	SciCon	3418	7	373.07
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1418	0	6.73
Compass	1196	5	88.67
RAFOS	307	40	182.45
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
7.04	16386	-146.63	-1.16	0.00	495.1	573.3	416.9	197.9	2295.4	0.00	0.00	0	67.91	56.40	0.00	0.00	0.005	0.000	0.000	1916.69	1997.75	1835.62	198.00	2295.81	0	0	0	15.80	30.00	30.00
68.43	18983	-146.63	-1.16	-80.00	1919.8	2004.9	1834.8	197.9	2295.9	3.23	-3.30	11	151.90	55.67	8.29	4.05	0.005	0.260	0.127	3898.72	3987.88	3809.56	1219.44	809.19	0	0	0	15.84	15.66	15.74
155.95	3205	-146.63	-0.75	0.00	3899.3	3987.8	3810.9	1219.8	809.4	12.01	-14.85	26	168.48	0.00	0.74	3.71	0.000	0.183	0.064	3899.56	3988.62	3810.50	1319.19	2292.19	0	0	0	30.00	15.75	15.80
351.64	292	-146.63	-0.75	80.00	3900.9	3990.3	3811.4	1319.8	2292.0	33.08	-9.64	64	360.46	0.00	0.00	3.89	0.000	0.000	0.129	3901.03	3990.19	3811.88	1319.75	3743.12	0	0	0	30.00	30.00	15.84
389.65	1156	-146.63	-0.70	0.00	3900.3	3989.7	3810.9	1319.7	3742.6	37.24	-10.99	71	398.23	0.00	0.00	3.61	0.000	0.000	0.047	3900.59	3989.94	3811.25	1319.75	2248.00	0	0	0	30.00	30.00	15.89
582.44	160	-146.63	-0.75	0.00	3900.9	3990.2	3811.6	1319.6	2247.8	53.29	-8.11	105	584.30	0.00	0.00	0.00	0.000	0.000	0.000	3900.91	3989.56	3812.25	1319.62	2247.38	0	0	0	30.00	30.00	30.00
772.46	160	-146.63	-0.82	0.00	3901.7	3990.3	3813.1	1319.6	2247.8	68.86	-7.92	124	774.33	0.00	0.00	0.00	0.000	0.000	0.000	3901.50	3990.19	3812.81	1319.62	2247.75	0	0	0	30.00	30.00	30.00
963.85	4257	-146.63	-0.89	0.00	3902.0	3990.1	3813.9	1319.6	2248.0	83.10	-7.38	143	966.11	0.00	0.28	0.00	0.000	0.068	0.000	3901.69	3989.75	3813.62	1268.31	2248.19	0	0	0	30.00	16.00	30.00
1153.63	0	-146.63	-0.89	0.00	3902.4	3990.4	3814.3	1267.1	2248.1	103.05	-10.85	162	1155.49	0.00	0.00	0.00	0.000	0.000	0.000	3901.88	3989.69	3814.06	1267.38	2247.88	0	0	0	30.00	30.00	30.00
1343.67	0	-146.63	-0.89	0.00	3902.5	3990.2	3814.8	1267.4	2247.6	123.01	-10.58	181	1345.55	0.00	0.00	0.00	0.000	0.000	0.000	3901.94	3989.12	3814.75	1267.56	2247.44	0	0	0	30.00	30.00	30.00
1527.00	0	-146.63	-0.89	0.00	3902.5	3990.1	3815.0	1267.4	2247.4	142.12	-10.25	200	1528.87	0.00	0.00	0.00	0.000	0.000	0.000	3902.09	3989.75	3814.44	1267.56	2247.19	0	0	0	30.00	30.00	30.00
1607	end dive: TARGET_DEPTH_EXCEEDED
state	1607	begin apogee
1608.86	10243	0.00	-0.28	0.00	3902.4	3990.1	3814.7	1267.2	2151.2	150.16	-9.94	208	1732.31	110.81	1.20	0.09	1.129	0.139	0.213	3300.38	3403.12	3197.62	1434.69	2200.50	0	0	0	11.44	16.02	15.38
1733	end apogee: CONTROL_FINISHED_OK
state	1733	begin climb
1733.77	10243	146.63	1.16	0.00	3297.3	3399.3	3195.4	1434.7	2200.7	154.70	0.00	219	1863.66	113.89	2.41	0.00	1.090	0.108	0.000	2700.19	2804.69	2595.69	1783.69	2200.31	0	0	0	11.23	15.44	30.00
2047.80	16774	146.63	1.13	80.00	2693.8	2795.8	2591.9	1783.4	2200.6	125.27	12.64	250	2060.52	0.00	0.00	4.03	0.000	0.000	0.144	2694.00	2795.62	2592.38	1783.94	3641.69	0	0	0	30.00	30.00	15.61
2139.79	21639	146.63	0.98	0.00	2692.8	2793.8	2591.8	1784.1	3642.9	111.27	15.17	268	2149.37	0.00	0.42	3.70	0.000	0.192	0.062	2692.28	2793.06	2591.50	1731.75	2160.19	0	0	0	30.00	15.69	15.74
2334.91	10663	157.22	1.07	80.00	2692.3	2793.8	2590.9	1731.5	2160.9	91.64	9.51	288	2355.67	9.44	0.22	4.03	0.867	0.082	0.140	2656.88	2760.00	2553.75	1771.38	3642.94	0	0	0	11.36	15.85	15.75
2419.14	5253	157.22	0.97	0.00	2656.1	2758.6	2553.6	1772.0	3642.9	81.26	12.69	304	2429.22	0.00	0.32	3.65	0.000	0.186	0.059	2657.91	2759.75	2556.06	1729.75	2159.19	0	0	0	30.00	15.78	15.84
2619.20	10663	195.15	1.12	80.00	2655.5	2758.4	2552.6	1729.5	2159.1	63.68	8.24	323	2663.88	30.65	0.29	4.11	0.992	0.073	0.139	2502.09	2614.00	2390.19	1783.50	3645.06	0	0	0	11.60	15.89	15.63
2708.12	5253	195.15	1.06	0.00	2499.3	2610.2	2388.4	1783.2	3645.8	53.46	13.28	339	2717.49	0.00	0.26	3.68	0.000	0.188	0.058	2501.56	2613.12	2390.00	1749.69	2159.69	0	0	0	30.00	15.66	15.72
2899.72	2209	198.53	1.18	0.00	2497.3	2608.9	2385.7	1751.0	2158.8	34.32	9.84	374	2903.92	0.00	0.25	0.00	0.000	0.076	0.000	2497.53	2609.25	2385.81	1795.44	2159.25	0	0	0	30.00	15.82	30.00
3089.75	8614	242.55	1.28	80.00	2496.9	2608.8	2385.0	1795.2	2159.1	16.33	7.96	412	3141.23	36.30	0.00	4.11	0.956	0.000	0.139	2308.25	2432.81	2183.69	1795.69	3644.38	0	0	0	11.44	30.00	15.65
3369.93	11431	463.01	1.66	0.00	2302.8	2425.8	2179.8	1796.2	3644.6	6.28	-0.21	466	3411.53	29.29	0.70	3.65	0.938	0.060	0.057	2154.94	2286.44	2023.44	1911.50	2155.81	0	0	0	11.39	15.84	15.85
3412	end climb: NO_VERTICAL_VELOCITY
state	3412	begin surface