Glider dive log

HoodCanal 18Jun23 * SG245 * Dive index * Mission links * Dive 18 * 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 18 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 1.0524268 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 5.5382204 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 1.0524268 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.5382204 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 18 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 190623,113302,4736.239,-12256.724,21,0.8,22,15.4 KALMAN_CONTROL 0.000,0.000

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

_SM_DEPTHo 1.57 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 MHEAD_RNG_PITCHd_Wd 9.7,1209,-17.6,-10.000,-21.21,2209,0.136

GPS2 190623,113624,4736.239,-12256.710,2,0.6,4,15.4 D_GRID 168

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,8,0,20230619122012.533350,18,20303,43,0121,0110,07,01,01,00,01,1,029,245,0,5,1,0,150,2.3,3.67,-100,-0.67,-01,0.25,60,10000,5000,0,-1,00,00*6B _24V_AH 14.84,5.744

NET_PING 1687177214,29,864.097534,2.300000,-0.975886 _10V_AH 14.81,0.000

NAV 1687177811,5.3,0,stop FG_AHR_24Vo 5.718

WARN HSCICON 3,0,0,0,0,0 (vee ) FG_AHR_10Vo 1.074

FREEZE 5.23,14.095,-1.516,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3517.28,278.42,0.926,0,501.1,586.9,415.2,686.58 MEM2 944372,37,101636,91

SM_GC 1.42,0.00,10.47,0.33,0.000,0.050,0.105,498.0,581.3,414.6,196.8,2293.4,0,0,0,30.00,15.44,15.44 DATA_FILE_SIZE 12940,446

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 171077,0

IRIDIUM_FIX 4736.40,-12251.79,190623,102644 SDSIZE 3887104,3869312

TCM_TEMP 15.39 SDFILEDIR 160,19

SC_FREEKB 3872768 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -2 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,-0.008696,-0.066640,0.020558,1.134361,0.136439,0.030743,0.050235,1.071347,-450.5,-1987.8,112.9,30,0.0122,0

HUMID 52.02 IMPLIED_C_PITCH 1527,17.81,235,0.0,0.00

TEMP 10.30 IMPLIED_C_VBD 3257,24.100174,235,0

INTERNAL_PRESSURE 8.02457 GPS 190623,123750,4736.655,-12256.503,1,0.7,2,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 735 1120 12233.11 nil 0 0 0.00

Pitch_motor 24 265 97.41 nil 0 0 0.00

Roll_motor 54 219 176.48 nil 0 0 0.00

Iridium 131 200 389.77 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2194 5 166.43 SciCon 3218 7 344.19

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1312 0 6.22

Compass 1120 5 83.01

RAFOS 308 40 182.96

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

7.05 16386 -146.63 -1.16 0.00 495.3 573.9 416.8 199.3 2252.8 0.00 0.00 0 67.92 56.47 0.00 0.00 0.005 0.000 0.000 1912.66 1997.19 1828.12 199.00 2252.75 0 0 0 15.80 30.00 30.00

68.45 18983 -146.63 -1.16 -80.00 1916.1 2001.3 1830.9 199.4 2252.3 3.01 -2.82 11 153.07 56.60 8.41 3.93 0.005 0.265 0.130 3898.59 3987.88 3809.31 1220.00 809.31 0 0 0 15.82 15.65 15.73

380.67 3205 -146.63 -0.96 0.00 3900.6 3988.1 3813.1 1220.1 809.6 45.17 -14.78 70 389.51 0.00 0.37 3.69 0.000 0.172 0.066 3900.25 3988.00 3812.50 1269.69 2292.94 0 0 0 30.00 15.83 15.88

573.74 676 -146.63 -0.92 -80.00 3901.4 3988.2 3814.5 1269.7 2292.6 65.09 -9.69 93 582.81 0.00 0.00 4.03 0.000 0.000 0.131 3902.25 3988.31 3816.19 1269.94 810.38 0 0 0 30.00 30.00 15.88

622.01 1156 -146.63 -0.87 0.00 3901.3 3988.1 3814.5 1269.4 810.6 70.40 -11.26 102 630.87 0.00 0.00 3.66 0.000 0.000 0.064 3901.34 3987.94 3814.75 1269.44 2290.75 0 0 0 30.00 30.00 15.94

814.95 32 -146.63 -0.87 0.00 3901.9 3988.5 3815.3 1269.8 2291.2 89.72 -9.74 122 823.96 0.00 0.00 0.00 0.000 0.000 0.000 3902.19 3989.19 3815.19 1269.75 2290.94 0 0 0 30.00 30.00 30.00

1004.97 32 -146.63 -0.87 0.00 3902.1 3988.4 3815.8 1269.5 2291.1 109.13 -9.99 141 1006.85 0.00 0.00 0.00 0.000 0.000 0.000 3901.75 3988.06 3815.44 1269.88 2291.31 0 0 0 30.00 30.00 30.00

1194.92 0 -146.63 -0.87 0.00 3902.6 3988.6 3816.7 1269.7 2291.4 128.73 -10.35 160 1196.80 0.00 0.00 0.00 0.000 0.000 0.000 3902.72 3989.00 3816.44 1269.31 2291.50 0 0 0 30.00 30.00 30.00

1382.88 516 -146.63 -0.87 -80.00 3902.7 3988.4 3817.0 1268.9 2291.2 147.86 -10.15 177 1395.98 0.00 0.00 4.01 0.000 0.000 0.137 3902.75 3988.50 3817.00 1269.56 809.50 0 0 0 30.00 30.00 15.78

1404 end dive: TARGET_DEPTH_EXCEEDED

state 1404 begin apogee

1412.12 10243 0.00 -0.28 0.00 3902.7 3988.3 3817.1 1269.4 2196.8 150.17 -10.13 180 1537.60 110.21 1.14 0.08 1.121 0.140 0.220 3300.88 3402.50 3199.25 1434.69 2158.06 0 0 0 11.50 15.93 15.34

1538 end apogee: CONTROL_FINISHED_OK

state 1539 begin climb

1539.06 10243 146.63 1.16 0.00 3297.8 3398.6 3197.1 1434.9 2158.2 155.02 0.00 192 1670.09 114.99 2.42 0.00 1.081 0.108 0.000 2701.25 2805.12 2597.38 1784.38 2157.62 0 0 0 11.12 15.39 30.00

1854.28 16774 146.63 1.13 80.00 2694.1 2794.7 2593.4 1783.0 2158.0 125.46 12.43 223 1863.65 0.00 0.00 4.08 0.000 0.000 0.142 2693.62 2793.69 2593.56 1781.50 3645.56 0 0 0 30.00 30.00 15.62

1922.90 21639 146.63 0.98 0.00 2693.1 2793.5 2592.6 1783.5 3645.3 115.39 15.00 236 1932.49 0.00 0.42 3.70 0.000 0.193 0.060 2691.69 2791.62 2591.75 1733.12 2159.38 0 0 0 30.00 15.68 15.73

2118.02 10663 162.00 1.07 80.00 2692.2 2793.5 2590.9 1731.9 2160.0 95.94 9.29 256 2142.92 13.10 0.20 4.04 0.925 0.084 0.138 2637.28 2739.75 2534.81 1770.31 3644.50 0 0 0 11.41 15.84 15.70

2216.38 5253 162.00 0.98 0.00 2636.7 2738.9 2534.5 1770.0 3644.2 83.22 14.13 275 2226.34 0.00 0.29 3.70 0.000 0.189 0.059 2637.62 2740.06 2535.19 1732.12 2159.62 0 0 0 30.00 15.75 15.80

2410.58 10663 178.56 1.10 80.00 2635.5 2738.4 2532.6 1732.6 2159.2 64.83 9.23 295 2436.65 14.94 0.25 4.01 0.935 0.078 0.139 2568.56 2675.00 2462.12 1779.12 3644.19 0 0 0 11.35 15.89 15.76

2505.13 5253 178.56 1.04 0.00 2567.0 2673.6 2460.4 1778.9 3644.1 53.24 13.55 313 2515.08 0.00 0.25 3.65 0.000 0.191 0.059 2567.44 2674.00 2460.88 1746.69 2159.56 0 0 0 30.00 15.78 15.84

2697.93 10403 198.62 1.16 0.00 2565.8 2673.5 2458.1 1746.6 2159.4 33.97 9.07 348 2718.95 16.97 0.25 0.00 0.923 0.077 0.000 2489.03 2600.88 2377.19 1792.69 2159.19 0 0 0 11.43 15.89 30.00

2903.24 8614 228.23 1.25 80.00 2485.0 2596.1 2374.0 1792.4 2159.4 13.60 8.63 389 2938.72 23.68 0.00 4.03 0.929 0.000 0.139 2367.53 2486.56 2248.50 1793.06 3645.25 0 0 0 11.39 30.00 15.70

3008.06 11431 295.31 1.38 0.00 2364.2 2482.7 2245.8 1792.6 3644.9 5.75 6.89 409 3072.42 50.06 0.27 3.66 0.936 0.076 0.056 2092.97 2227.50 1958.44 1844.50 2156.81 0 0 0 11.39 15.80 15.82

3211 end climb: NO_VERTICAL_VELOCITY

state 3211 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	18	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	1.0524268	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	5.5382204	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	190623,113302,4736.239,-12256.724,21,0.8,22,15.4	KALMAN_CONTROL	0.000,0.000
_CALLS	1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_DEPTHo	1.57	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	MHEAD_RNG_PITCHd_Wd	9.7,1209,-17.6,-10.000,-21.21,2209,0.136
GPS2	190623,113624,4736.239,-12256.710,2,0.6,4,15.4	D_GRID	168
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,8,0,20230619122012.533350,18,20303,43,0121,0110,07,01,01,00,01,1,029,245,0,5,1,0,150,2.3,3.67,-100,-0.67,-01,0.25,60,10000,5000,0,-1,00,00*6B	_24V_AH	14.84,5.744
NET_PING	1687177214,29,864.097534,2.300000,-0.975886	_10V_AH	14.81,0.000
NAV	1687177811,5.3,0,stop	FG_AHR_24Vo	5.718
WARN	HSCICON 3,0,0,0,0,0 (vee )	FG_AHR_10Vo	1.074
FREEZE	5.23,14.095,-1.516,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3517.28,278.42,0.926,0,501.1,586.9,415.2,686.58	MEM2	944372,37,101636,91
SM_GC	1.42,0.00,10.47,0.33,0.000,0.050,0.105,498.0,581.3,414.6,196.8,2293.4,0,0,0,30.00,15.44,15.44	DATA_FILE_SIZE	12940,446
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	171077,0
IRIDIUM_FIX	4736.40,-12251.79,190623,102644	SDSIZE	3887104,3869312
TCM_TEMP	15.39	SDFILEDIR	160,19
SC_FREEKB	3872768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-2	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,-0.008696,-0.066640,0.020558,1.134361,0.136439,0.030743,0.050235,1.071347,-450.5,-1987.8,112.9,30,0.0122,0
HUMID	52.02	IMPLIED_C_PITCH	1527,17.81,235,0.0,0.00
TEMP	10.30	IMPLIED_C_VBD	3257,24.100174,235,0
INTERNAL_PRESSURE	8.02457	GPS	190623,123750,4736.655,-12256.503,1,0.7,2,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	735	1120	12233.11	nil	0	0	0.00
Pitch_motor	24	265	97.41	nil	0	0	0.00
Roll_motor	54	219	176.48	nil	0	0	0.00
Iridium	131	200	389.77	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2194	5	166.43	SciCon	3218	7	344.19
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1312	0	6.22
Compass	1120	5	83.01
RAFOS	308	40	182.96
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
7.05	16386	-146.63	-1.16	0.00	495.3	573.9	416.8	199.3	2252.8	0.00	0.00	0	67.92	56.47	0.00	0.00	0.005	0.000	0.000	1912.66	1997.19	1828.12	199.00	2252.75	0	0	0	15.80	30.00	30.00
68.45	18983	-146.63	-1.16	-80.00	1916.1	2001.3	1830.9	199.4	2252.3	3.01	-2.82	11	153.07	56.60	8.41	3.93	0.005	0.265	0.130	3898.59	3987.88	3809.31	1220.00	809.31	0	0	0	15.82	15.65	15.73
380.67	3205	-146.63	-0.96	0.00	3900.6	3988.1	3813.1	1220.1	809.6	45.17	-14.78	70	389.51	0.00	0.37	3.69	0.000	0.172	0.066	3900.25	3988.00	3812.50	1269.69	2292.94	0	0	0	30.00	15.83	15.88
573.74	676	-146.63	-0.92	-80.00	3901.4	3988.2	3814.5	1269.7	2292.6	65.09	-9.69	93	582.81	0.00	0.00	4.03	0.000	0.000	0.131	3902.25	3988.31	3816.19	1269.94	810.38	0	0	0	30.00	30.00	15.88
622.01	1156	-146.63	-0.87	0.00	3901.3	3988.1	3814.5	1269.4	810.6	70.40	-11.26	102	630.87	0.00	0.00	3.66	0.000	0.000	0.064	3901.34	3987.94	3814.75	1269.44	2290.75	0	0	0	30.00	30.00	15.94
814.95	32	-146.63	-0.87	0.00	3901.9	3988.5	3815.3	1269.8	2291.2	89.72	-9.74	122	823.96	0.00	0.00	0.00	0.000	0.000	0.000	3902.19	3989.19	3815.19	1269.75	2290.94	0	0	0	30.00	30.00	30.00
1004.97	32	-146.63	-0.87	0.00	3902.1	3988.4	3815.8	1269.5	2291.1	109.13	-9.99	141	1006.85	0.00	0.00	0.00	0.000	0.000	0.000	3901.75	3988.06	3815.44	1269.88	2291.31	0	0	0	30.00	30.00	30.00
1194.92	0	-146.63	-0.87	0.00	3902.6	3988.6	3816.7	1269.7	2291.4	128.73	-10.35	160	1196.80	0.00	0.00	0.00	0.000	0.000	0.000	3902.72	3989.00	3816.44	1269.31	2291.50	0	0	0	30.00	30.00	30.00
1382.88	516	-146.63	-0.87	-80.00	3902.7	3988.4	3817.0	1268.9	2291.2	147.86	-10.15	177	1395.98	0.00	0.00	4.01	0.000	0.000	0.137	3902.75	3988.50	3817.00	1269.56	809.50	0	0	0	30.00	30.00	15.78
1404	end dive: TARGET_DEPTH_EXCEEDED
state	1404	begin apogee
1412.12	10243	0.00	-0.28	0.00	3902.7	3988.3	3817.1	1269.4	2196.8	150.17	-10.13	180	1537.60	110.21	1.14	0.08	1.121	0.140	0.220	3300.88	3402.50	3199.25	1434.69	2158.06	0	0	0	11.50	15.93	15.34
1538	end apogee: CONTROL_FINISHED_OK
state	1539	begin climb
1539.06	10243	146.63	1.16	0.00	3297.8	3398.6	3197.1	1434.9	2158.2	155.02	0.00	192	1670.09	114.99	2.42	0.00	1.081	0.108	0.000	2701.25	2805.12	2597.38	1784.38	2157.62	0	0	0	11.12	15.39	30.00
1854.28	16774	146.63	1.13	80.00	2694.1	2794.7	2593.4	1783.0	2158.0	125.46	12.43	223	1863.65	0.00	0.00	4.08	0.000	0.000	0.142	2693.62	2793.69	2593.56	1781.50	3645.56	0	0	0	30.00	30.00	15.62
1922.90	21639	146.63	0.98	0.00	2693.1	2793.5	2592.6	1783.5	3645.3	115.39	15.00	236	1932.49	0.00	0.42	3.70	0.000	0.193	0.060	2691.69	2791.62	2591.75	1733.12	2159.38	0	0	0	30.00	15.68	15.73
2118.02	10663	162.00	1.07	80.00	2692.2	2793.5	2590.9	1731.9	2160.0	95.94	9.29	256	2142.92	13.10	0.20	4.04	0.925	0.084	0.138	2637.28	2739.75	2534.81	1770.31	3644.50	0	0	0	11.41	15.84	15.70
2216.38	5253	162.00	0.98	0.00	2636.7	2738.9	2534.5	1770.0	3644.2	83.22	14.13	275	2226.34	0.00	0.29	3.70	0.000	0.189	0.059	2637.62	2740.06	2535.19	1732.12	2159.62	0	0	0	30.00	15.75	15.80
2410.58	10663	178.56	1.10	80.00	2635.5	2738.4	2532.6	1732.6	2159.2	64.83	9.23	295	2436.65	14.94	0.25	4.01	0.935	0.078	0.139	2568.56	2675.00	2462.12	1779.12	3644.19	0	0	0	11.35	15.89	15.76
2505.13	5253	178.56	1.04	0.00	2567.0	2673.6	2460.4	1778.9	3644.1	53.24	13.55	313	2515.08	0.00	0.25	3.65	0.000	0.191	0.059	2567.44	2674.00	2460.88	1746.69	2159.56	0	0	0	30.00	15.78	15.84
2697.93	10403	198.62	1.16	0.00	2565.8	2673.5	2458.1	1746.6	2159.4	33.97	9.07	348	2718.95	16.97	0.25	0.00	0.923	0.077	0.000	2489.03	2600.88	2377.19	1792.69	2159.19	0	0	0	11.43	15.89	30.00
2903.24	8614	228.23	1.25	80.00	2485.0	2596.1	2374.0	1792.4	2159.4	13.60	8.63	389	2938.72	23.68	0.00	4.03	0.929	0.000	0.139	2367.53	2486.56	2248.50	1793.06	3645.25	0	0	0	11.39	30.00	15.70
3008.06	11431	295.31	1.38	0.00	2364.2	2482.7	2245.8	1792.6	3644.9	5.75	6.89	409	3072.42	50.06	0.27	3.66	0.936	0.076	0.056	2092.97	2227.50	1958.44	1844.50	2156.81	0	0	0	11.39	15.80	15.82
3211	end climb: NO_VERTICAL_VELOCITY
state	3211	begin surface