Glider dive log

HoodCanal 18Jun23 * SG245 * Dive index * Mission links * Dive 17 * 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 17 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 1.0291938 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 5.3515835 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 1.0291938 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.3515835 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 17 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 190623,102536,4735.954,-12256.741,0,1.0,3,15.4 KALMAN_CONTROL 0.000,0.000

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

_SM_DEPTHo 1.55 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 MHEAD_RNG_PITCHd_Wd 2.7,1708,-17.6,-10.000,-21.21,2209,0.140

GPS2 190623,102856,4735.953,-12256.725,1,1.0,2,15.4 D_GRID 166

SPEED_LIMITS 0.173,0.258 IRON 1.000000,0.006956,-0.085907,0.008961,1.105064,0.149463,0.053421,0.055690,1.048096,-326.489471,-2054.929443,245.167343

TGT_NAME N OSC 8000266

TGT_LATLONG 4736.830,-12256.300 WARN HSCICON 3,0,0,0,0,0 (vee )

TGT_RADIUS 300.000

Post-dive calculations and measurements:

NET CACST,8,0,20230619112010.696804,18,32767,45,0101,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,11.4,5.34,-100,-2.34,-01,0.04,75,10000,5000,0,-1,00,00*59 _24V_AH 14.83,5.548

NET_PING 1687173613,29,241.588516,11.400000,-0.159980 _10V_AH 14.82,0.000

NAV 1687174332,0.3,0,stop FG_AHR_24Vo 5.531

WARN HSCICON 3,0,0,0,0,0 (vee ) FG_AHR_10Vo 1.052

FREEZE 5.10,14.119,-1.520,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3647.57,280.19,0.927,0,500.5,586.2,414.7,686.72 MEM2 944396,35,101652,91

SM_GC 1.41,0.00,10.65,0.33,0.000,0.052,0.107,497.6,581.4,413.8,199.3,2293.6,0,0,0,30.00,15.44,15.45 DATA_FILE_SIZE 12922,490

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 181395,0

IRIDIUM_FIX 4736.00,-12258.89,190623,092146 SDSIZE 3887104,3869600

TCM_TEMP 15.47 SDFILEDIR 153,18

SC_FREEKB 3873088 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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,-0.003283,-0.055241,0.014388,1.127301,0.130166,0.026248,0.055290,1.060598,-497.9,-1955.1,160.0,33,0.0111,0

HUMID 52.07 IMPLIED_C_PITCH 1528,17.63,258,0.0,0.00

TEMP 10.39 IMPLIED_C_VBD 3260,22.673250,258,0

INTERNAL_PRESSURE 8.03366 GPS 190623,113302,4736.239,-12256.724,21,0.8,22,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 733 1125 12235.06 nil 0 0 0.00

Pitch_motor 25 268 100.70 nil 0 0 0.00

Roll_motor 61 216 196.91 nil 0 0 0.00

Iridium 130 194 374.98 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.71 nil 0 0 0.00

Core 2343 5 177.79 SciCon 3345 7 363.91

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1289 0 6.12

Compass 1211 5 89.76

RAFOS 311 40 184.80

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

6.79 16386 -146.63 -1.16 0.00 495.6 574.5 416.8 197.9 2251.7 0.00 0.00 0 76.64 64.96 0.00 0.00 0.005 0.000 0.000 2109.78 2198.62 2020.94 198.19 2251.75 0 0 0 14.98 30.00 30.00

77.16 18727 -146.63 -1.16 80.00 2112.6 2201.4 2023.9 198.0 2251.4 3.27 -2.69 11 150.97 46.58 8.44 3.93 0.005 0.268 0.125 3898.72 3989.50 3807.94 1220.12 3742.94 0 0 0 15.81 15.61 15.72

190.01 3205 -146.63 -0.79 0.00 3900.1 3989.0 3811.2 1219.6 3742.6 18.47 -18.66 31 198.82 0.00 0.67 3.60 0.000 0.173 0.047 3899.97 3988.94 3811.00 1309.62 2248.38 0 0 0 30.00 15.74 15.81

382.91 548 -146.63 -0.79 -80.00 3900.7 3989.1 3812.3 1309.7 2247.8 37.72 -8.65 69 391.75 0.00 0.00 3.86 0.000 0.000 0.134 3901.06 3989.00 3813.12 1309.06 809.38 0 0 0 30.00 30.00 15.83

620.93 1060 -146.63 -0.79 0.00 3901.2 3989.1 3813.3 1309.5 810.1 60.22 -8.72 116 629.79 0.00 0.00 3.63 0.000 0.000 0.066 3901.38 3988.44 3814.31 1309.19 2291.50 0 0 0 30.00 30.00 15.94

814.09 676 -146.63 -0.84 -80.00 3901.6 3988.8 3814.4 1309.7 2291.0 76.87 -8.71 136 823.07 0.00 0.00 3.97 0.000 0.000 0.134 3901.44 3988.88 3814.00 1309.88 809.25 0 0 0 30.00 30.00 15.91

962.35 5285 -146.63 -0.91 0.00 3902.0 3989.1 3814.8 1309.2 809.4 90.55 -9.03 165 971.43 0.00 0.25 3.63 0.000 0.072 0.067 3901.72 3988.69 3814.75 1263.25 2291.00 0 0 0 30.00 15.98 15.98

1157.13 0 -146.63 -0.91 0.00 3902.5 3989.0 3816.1 1262.9 2290.7 110.24 -10.52 185 1159.01 0.00 0.00 0.00 0.000 0.000 0.000 3902.03 3989.19 3814.88 1262.62 2290.69 0 0 0 30.00 30.00 30.00

1342.14 0 -146.63 -0.91 0.00 3902.6 3989.0 3816.2 1263.1 2291.5 129.45 -10.53 204 1344.01 0.00 0.00 0.00 0.000 0.000 0.000 3902.22 3988.75 3815.69 1262.88 2291.38 0 0 0 30.00 30.00 30.00

1532.15 516 -146.63 -0.91 -80.00 3902.5 3988.9 3816.2 1263.2 2291.4 149.12 -10.30 223 1541.38 0.00 0.00 3.99 0.000 0.000 0.137 3902.47 3988.69 3816.25 1263.06 809.38 0 0 0 30.00 30.00 15.98

1545 end dive: TARGET_DEPTH_EXCEEDED

state 1545 begin apogee

1552.79 10243 0.00 -0.28 0.00 3902.9 3989.0 3816.9 1263.2 2196.5 150.53 -10.39 225 1678.83 110.17 1.25 0.08 1.125 0.143 0.216 3298.88 3401.12 3196.62 1434.88 2155.75 0 0 0 11.44 16.00 15.39

1680 end apogee: CONTROL_FINISHED_OK

state 1680 begin climb

1680.29 10243 146.63 1.16 0.00 3297.0 3398.4 3195.6 1434.8 2156.6 155.67 0.00 237 1812.30 114.53 2.42 0.00 1.086 0.109 0.000 2700.28 2804.12 2596.44 1784.00 2156.62 0 0 0 11.30 15.45 30.00

1996.33 16646 146.63 1.16 80.00 2693.9 2794.6 2593.2 1783.6 2156.1 125.39 12.33 266 2005.97 0.00 0.00 4.11 0.000 0.000 0.141 2693.03 2794.19 2591.88 1783.75 3644.88 0 0 0 30.00 30.00 15.58

2095.21 21639 146.63 1.01 0.00 2693.2 2793.5 2592.9 1783.8 3644.9 110.44 15.90 285 2104.80 0.00 0.37 3.72 0.000 0.195 0.060 2691.91 2792.44 2591.38 1740.38 2159.00 0 0 0 30.00 15.66 15.71

2290.31 8614 154.87 1.08 80.00 2692.7 2793.8 2591.6 1740.2 2159.8 90.01 9.62 305 2308.38 7.77 0.00 4.00 0.801 0.000 0.138 2667.44 2770.19 2564.69 1739.88 3644.69 0 0 0 11.28 30.00 15.75

2362.44 1028 154.87 1.08 0.00 2666.0 2767.8 2564.2 1740.3 3644.5 82.07 11.31 319 2371.62 0.00 0.00 3.64 0.000 0.000 0.059 2666.34 2768.69 2564.00 1740.75 2159.31 0 0 0 30.00 30.00 15.83

2557.75 10663 191.16 1.22 80.00 2665.1 2767.7 2562.4 1740.2 2159.5 64.46 8.32 339 2600.61 29.54 0.38 4.05 0.986 0.065 0.138 2520.53 2630.62 2410.44 1804.50 3644.00 0 0 0 11.34 15.90 15.67

2659.85 5253 191.16 1.09 0.00 2515.3 2624.6 2406.1 1804.7 3644.1 51.68 14.23 358 2669.34 0.00 0.36 3.69 0.000 0.191 0.059 2516.47 2625.56 2407.38 1759.50 2159.12 0 0 0 30.00 15.71 15.77

2855.00 10403 212.71 1.21 0.00 2513.3 2622.6 2404.1 1760.1 2159.4 32.11 9.00 396 2876.10 17.76 0.24 0.00 0.925 0.079 0.000 2432.03 2547.31 2316.75 1801.38 2159.50 0 0 0 11.62 15.87 30.00

3059.64 8614 241.17 1.30 80.00 2427.0 2541.5 2312.4 1801.8 2159.3 12.21 8.68 436 3095.02 22.86 0.00 4.06 0.924 0.000 0.138 2314.75 2437.12 2192.38 1801.81 3644.31 0 0 0 11.59 30.00 15.67

3144.35 11431 292.35 1.41 0.00 2311.8 2433.6 2190.0 1801.8 3643.8 5.48 7.63 452 3196.28 38.69 0.27 3.66 0.930 0.077 0.055 2106.78 2240.94 1972.62 1854.19 2157.88 0 0 0 11.60 15.78 15.77

3340 end climb: NO_VERTICAL_VELOCITY

state 3340 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	17	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	1.0291938	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	5.3515835	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	190623,102536,4735.954,-12256.741,0,1.0,3,15.4	KALMAN_CONTROL	0.000,0.000
_CALLS	1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_DEPTHo	1.55	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	MHEAD_RNG_PITCHd_Wd	2.7,1708,-17.6,-10.000,-21.21,2209,0.140
GPS2	190623,102856,4735.953,-12256.725,1,1.0,2,15.4	D_GRID	166
SPEED_LIMITS	0.173,0.258	IRON	1.000000,0.006956,-0.085907,0.008961,1.105064,0.149463,0.053421,0.055690,1.048096,-326.489471,-2054.929443,245.167343
TGT_NAME	N	OSC	8000266
TGT_LATLONG	4736.830,-12256.300	WARN	HSCICON 3,0,0,0,0,0 (vee )
TGT_RADIUS	300.000

NET	CACST,8,0,20230619112010.696804,18,32767,45,0101,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,11.4,5.34,-100,-2.34,-01,0.04,75,10000,5000,0,-1,00,00*59	_24V_AH	14.83,5.548
NET_PING	1687173613,29,241.588516,11.400000,-0.159980	_10V_AH	14.82,0.000
NAV	1687174332,0.3,0,stop	FG_AHR_24Vo	5.531
WARN	HSCICON 3,0,0,0,0,0 (vee )	FG_AHR_10Vo	1.052
FREEZE	5.10,14.119,-1.520,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3647.57,280.19,0.927,0,500.5,586.2,414.7,686.72	MEM2	944396,35,101652,91
SM_GC	1.41,0.00,10.65,0.33,0.000,0.052,0.107,497.6,581.4,413.8,199.3,2293.6,0,0,0,30.00,15.44,15.45	DATA_FILE_SIZE	12922,490
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	181395,0
IRIDIUM_FIX	4736.00,-12258.89,190623,092146	SDSIZE	3887104,3869600
TCM_TEMP	15.47	SDFILEDIR	153,18
SC_FREEKB	3873088	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
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,-0.003283,-0.055241,0.014388,1.127301,0.130166,0.026248,0.055290,1.060598,-497.9,-1955.1,160.0,33,0.0111,0
HUMID	52.07	IMPLIED_C_PITCH	1528,17.63,258,0.0,0.00
TEMP	10.39	IMPLIED_C_VBD	3260,22.673250,258,0
INTERNAL_PRESSURE	8.03366	GPS	190623,113302,4736.239,-12256.724,21,0.8,22,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	733	1125	12235.06	nil	0	0	0.00
Pitch_motor	25	268	100.70	nil	0	0	0.00
Roll_motor	61	216	196.91	nil	0	0	0.00
Iridium	130	194	374.98	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.71	nil	0	0	0.00
Core	2343	5	177.79	SciCon	3345	7	363.91
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1289	0	6.12
Compass	1211	5	89.76
RAFOS	311	40	184.80
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
6.79	16386	-146.63	-1.16	0.00	495.6	574.5	416.8	197.9	2251.7	0.00	0.00	0	76.64	64.96	0.00	0.00	0.005	0.000	0.000	2109.78	2198.62	2020.94	198.19	2251.75	0	0	0	14.98	30.00	30.00
77.16	18727	-146.63	-1.16	80.00	2112.6	2201.4	2023.9	198.0	2251.4	3.27	-2.69	11	150.97	46.58	8.44	3.93	0.005	0.268	0.125	3898.72	3989.50	3807.94	1220.12	3742.94	0	0	0	15.81	15.61	15.72
190.01	3205	-146.63	-0.79	0.00	3900.1	3989.0	3811.2	1219.6	3742.6	18.47	-18.66	31	198.82	0.00	0.67	3.60	0.000	0.173	0.047	3899.97	3988.94	3811.00	1309.62	2248.38	0	0	0	30.00	15.74	15.81
382.91	548	-146.63	-0.79	-80.00	3900.7	3989.1	3812.3	1309.7	2247.8	37.72	-8.65	69	391.75	0.00	0.00	3.86	0.000	0.000	0.134	3901.06	3989.00	3813.12	1309.06	809.38	0	0	0	30.00	30.00	15.83
620.93	1060	-146.63	-0.79	0.00	3901.2	3989.1	3813.3	1309.5	810.1	60.22	-8.72	116	629.79	0.00	0.00	3.63	0.000	0.000	0.066	3901.38	3988.44	3814.31	1309.19	2291.50	0	0	0	30.00	30.00	15.94
814.09	676	-146.63	-0.84	-80.00	3901.6	3988.8	3814.4	1309.7	2291.0	76.87	-8.71	136	823.07	0.00	0.00	3.97	0.000	0.000	0.134	3901.44	3988.88	3814.00	1309.88	809.25	0	0	0	30.00	30.00	15.91
962.35	5285	-146.63	-0.91	0.00	3902.0	3989.1	3814.8	1309.2	809.4	90.55	-9.03	165	971.43	0.00	0.25	3.63	0.000	0.072	0.067	3901.72	3988.69	3814.75	1263.25	2291.00	0	0	0	30.00	15.98	15.98
1157.13	0	-146.63	-0.91	0.00	3902.5	3989.0	3816.1	1262.9	2290.7	110.24	-10.52	185	1159.01	0.00	0.00	0.00	0.000	0.000	0.000	3902.03	3989.19	3814.88	1262.62	2290.69	0	0	0	30.00	30.00	30.00
1342.14	0	-146.63	-0.91	0.00	3902.6	3989.0	3816.2	1263.1	2291.5	129.45	-10.53	204	1344.01	0.00	0.00	0.00	0.000	0.000	0.000	3902.22	3988.75	3815.69	1262.88	2291.38	0	0	0	30.00	30.00	30.00
1532.15	516	-146.63	-0.91	-80.00	3902.5	3988.9	3816.2	1263.2	2291.4	149.12	-10.30	223	1541.38	0.00	0.00	3.99	0.000	0.000	0.137	3902.47	3988.69	3816.25	1263.06	809.38	0	0	0	30.00	30.00	15.98
1545	end dive: TARGET_DEPTH_EXCEEDED
state	1545	begin apogee
1552.79	10243	0.00	-0.28	0.00	3902.9	3989.0	3816.9	1263.2	2196.5	150.53	-10.39	225	1678.83	110.17	1.25	0.08	1.125	0.143	0.216	3298.88	3401.12	3196.62	1434.88	2155.75	0	0	0	11.44	16.00	15.39
1680	end apogee: CONTROL_FINISHED_OK
state	1680	begin climb
1680.29	10243	146.63	1.16	0.00	3297.0	3398.4	3195.6	1434.8	2156.6	155.67	0.00	237	1812.30	114.53	2.42	0.00	1.086	0.109	0.000	2700.28	2804.12	2596.44	1784.00	2156.62	0	0	0	11.30	15.45	30.00
1996.33	16646	146.63	1.16	80.00	2693.9	2794.6	2593.2	1783.6	2156.1	125.39	12.33	266	2005.97	0.00	0.00	4.11	0.000	0.000	0.141	2693.03	2794.19	2591.88	1783.75	3644.88	0	0	0	30.00	30.00	15.58
2095.21	21639	146.63	1.01	0.00	2693.2	2793.5	2592.9	1783.8	3644.9	110.44	15.90	285	2104.80	0.00	0.37	3.72	0.000	0.195	0.060	2691.91	2792.44	2591.38	1740.38	2159.00	0	0	0	30.00	15.66	15.71
2290.31	8614	154.87	1.08	80.00	2692.7	2793.8	2591.6	1740.2	2159.8	90.01	9.62	305	2308.38	7.77	0.00	4.00	0.801	0.000	0.138	2667.44	2770.19	2564.69	1739.88	3644.69	0	0	0	11.28	30.00	15.75
2362.44	1028	154.87	1.08	0.00	2666.0	2767.8	2564.2	1740.3	3644.5	82.07	11.31	319	2371.62	0.00	0.00	3.64	0.000	0.000	0.059	2666.34	2768.69	2564.00	1740.75	2159.31	0	0	0	30.00	30.00	15.83
2557.75	10663	191.16	1.22	80.00	2665.1	2767.7	2562.4	1740.2	2159.5	64.46	8.32	339	2600.61	29.54	0.38	4.05	0.986	0.065	0.138	2520.53	2630.62	2410.44	1804.50	3644.00	0	0	0	11.34	15.90	15.67
2659.85	5253	191.16	1.09	0.00	2515.3	2624.6	2406.1	1804.7	3644.1	51.68	14.23	358	2669.34	0.00	0.36	3.69	0.000	0.191	0.059	2516.47	2625.56	2407.38	1759.50	2159.12	0	0	0	30.00	15.71	15.77
2855.00	10403	212.71	1.21	0.00	2513.3	2622.6	2404.1	1760.1	2159.4	32.11	9.00	396	2876.10	17.76	0.24	0.00	0.925	0.079	0.000	2432.03	2547.31	2316.75	1801.38	2159.50	0	0	0	11.62	15.87	30.00
3059.64	8614	241.17	1.30	80.00	2427.0	2541.5	2312.4	1801.8	2159.3	12.21	8.68	436	3095.02	22.86	0.00	4.06	0.924	0.000	0.138	2314.75	2437.12	2192.38	1801.81	3644.31	0	0	0	11.59	30.00	15.67
3144.35	11431	292.35	1.41	0.00	2311.8	2433.6	2190.0	1801.8	3643.8	5.48	7.63	452	3196.28	38.69	0.27	3.66	0.930	0.077	0.055	2106.78	2240.94	1972.62	1854.19	2157.88	0	0	0	11.60	15.78	15.77
3340	end climb: NO_VERTICAL_VELOCITY
state	3340	begin surface