Glider dive log

HoodCanal 18Jun23 * SG245 * Dive index * Mission links * Dive 21 * 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 21 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 1.1226897 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 6.0832834 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 1.1226897 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.0832834 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 21 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 190623,142831,4736.857,-12256.133,21,1.0,22,15.4 KALMAN_CONTROL 0.000,0.000

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

_SM_DEPTHo 1.53 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.1 MHEAD_RNG_PITCHd_Wd 191.4,1908,-17.6,-10.000,-21.21,2209,0.182

GPS2 190623,143143,4736.870,-12256.110,2,0.7,5,15.4 D_GRID 168

SPEED_LIMITS 0.173,0.258 IRON 1.000000,0.005108,-0.073744,0.011616,1.117184,0.129586,0.038129,0.084060,1.124663,-433.319183,-1937.805908,-122.624062

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 1687188614,5.1,0,stop _10V_AH 14.82,0.000

WARN HSCICON 3,0,0,0,0,0 (vee ) FG_AHR_24Vo 6.261

FREEZE 4.44,14.346,-1.520,0,1,0 FG_AHR_10Vo 1.145

SURF forcing MEM0 60020,1,0,0

SM_CCo 3777.54,240.66,0.914,0,500.8,585.8,415.8,686.64 MEM1 65508,1,0,0

SM_GC 1.36,0.00,10.95,0.34,0.000,0.052,0.104,497.8,581.0,414.6,197.8,2294.1,0,0,0,30.00,15.43,15.43 MEM2 944512,30,101636,91

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12964,481

IRIDIUM_FIX 4735.53,-12254.47,190623,133500 CAP_FILE_SIZE 168549,0

TCM_TEMP 15.51 SDSIZE 3887104,3868448

SC_FREEKB 3871808 SDFILEDIR 181,22

RAFOS_CLK -2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1410.1

HUMID 52.02 MAGCAL 1.000000,0.011255,-0.082188,0.019668,1.109066,0.116476,0.043055,0.077477,1.070501,-346.8,-1896.3,138.0,36,0.0097,0

TEMP 10.52 IMPLIED_C_PITCH 1526,17.63,261,0.0,0.00

INTERNAL_PRESSURE 8.04059 IMPLIED_C_VBD 3278,21.507574,261,0

_24V_AH 14.85,6.314 GPS 190623,153740,4736.643,-12256.293,1,1.4,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 738 1120 12277.69 nil 0 0 0.00

Pitch_motor 25 253 96.66 nil 0 0 0.00

Roll_motor 46 211 145.62 nil 0 0 0.00

Iridium 123 187 344.78 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 2281 5 173.14 SciCon 3518 7 380.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1518 0 7.20

Compass 1219 5 90.33

RAFOS 311 40 184.86

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

6.77 16386 -146.63 -1.16 0.00 495.2 574.0 416.3 196.5 2249.9 0.00 0.00 0 74.39 62.75 0.00 0.00 0.005 0.000 0.000 2080.50 2168.75 1992.25 196.81 2250.69 0 0 0 15.72 30.00 30.00

74.92 18727 -146.63 -1.16 80.00 2082.6 2172.9 1992.2 196.6 2249.9 3.49 -2.98 11 157.57 52.70 8.26 3.98 0.005 0.254 0.123 3898.84 3986.88 3810.81 1220.25 3741.25 0 0 0 15.80 15.62 15.72

236.65 3205 -146.63 -0.84 0.00 3900.4 3986.6 3814.2 1219.9 3741.5 22.48 -15.44 41 245.40 0.00 0.57 3.61 0.000 0.168 0.046 3900.97 3987.00 3814.94 1299.06 2247.00 0 0 0 30.00 15.76 15.83

429.46 32 -146.63 -0.84 0.00 3900.7 3986.5 3814.9 1298.9 2246.7 39.64 -8.52 79 433.47 0.00 0.00 0.00 0.000 0.000 0.000 3900.94 3987.12 3814.75 1299.00 2246.44 0 0 0 30.00 30.00 30.00

621.42 32 -146.63 -0.84 0.00 3901.0 3986.3 3815.6 1299.4 2247.0 56.36 -8.67 110 623.29 0.00 0.00 0.00 0.000 0.000 0.000 3900.91 3986.19 3815.62 1299.12 2246.56 0 0 0 30.00 30.00 30.00

811.46 32 -146.63 -0.84 0.00 3901.9 3986.9 3816.9 1299.1 2246.8 73.33 -9.29 129 813.33 0.00 0.00 0.00 0.000 0.000 0.000 3901.53 3986.19 3816.88 1299.19 2246.81 0 0 0 30.00 30.00 30.00

1001.64 160 -146.63 -0.88 0.00 3902.3 3986.9 3817.8 1299.1 2246.9 90.67 -8.95 148 1003.52 0.00 0.00 0.00 0.000 0.000 0.000 3901.91 3986.88 3816.94 1299.38 2246.88 0 0 0 30.00 30.00 30.00

1186.66 420 -146.63 -0.92 80.00 3902.5 3986.6 3818.4 1299.0 2246.8 106.97 -8.68 167 1195.63 0.00 0.00 3.94 0.000 0.000 0.129 3902.53 3987.19 3817.88 1299.19 3740.12 0 0 0 30.00 30.00 15.98

1218.96 1060 -146.63 -0.92 0.00 3902.6 3986.6 3818.6 1299.1 3740.6 110.18 -9.32 173 1227.24 0.00 0.00 3.56 0.000 0.000 0.047 3902.75 3987.19 3818.31 1299.12 2246.50 0 0 0 30.00 30.00 16.03

1414.94 4257 -146.63 -0.98 0.00 3902.6 3986.4 3818.7 1299.2 2246.5 127.07 -8.61 193 1417.20 0.00 0.29 0.00 0.000 0.066 0.000 3903.16 3987.25 3819.06 1244.56 2246.56 0 0 0 30.00 16.05 30.00

1604.88 2177 -146.63 -0.94 0.00 3902.4 3986.4 3818.4 1244.5 2246.5 147.75 -11.15 212 1607.15 0.00 0.23 0.00 0.000 0.157 0.000 3902.03 3985.94 3818.12 1274.94 2246.38 0 0 0 30.00 16.04 30.00

1641 end dive: TARGET_DEPTH_EXCEEDED

state 1641 begin apogee

1643.39 10243 0.00 -0.28 0.00 3903.0 3986.8 3819.2 1274.8 2152.9 151.46 -10.26 214 1767.03 111.06 1.09 0.09 1.120 0.136 0.211 3301.06 3401.12 3201.00 1435.69 2200.06 0 0 0 11.48 15.98 15.35

1768 end apogee: CONTROL_FINISHED_OK

state 1768 begin climb

1768.51 10243 146.63 1.16 0.00 3297.1 3396.8 3197.4 1435.8 2199.8 155.95 0.00 225 1899.61 115.29 2.41 0.00 1.078 0.107 0.000 2703.09 2805.62 2600.56 1783.69 2199.75 0 0 0 11.33 15.40 30.00

2083.61 260 146.63 1.16 80.00 2694.3 2794.6 2594.0 1783.9 2199.7 125.13 12.67 261 2093.05 0.00 0.00 3.98 0.000 0.000 0.144 2694.16 2794.06 2594.25 1781.88 3644.06 0 0 0 30.00 30.00 15.62

2132.29 21639 146.63 1.01 0.00 2693.1 2793.1 2593.1 1783.4 3643.7 118.33 14.56 270 2141.77 0.00 0.37 3.69 0.000 0.189 0.061 2694.03 2794.19 2593.88 1739.81 2161.06 0 0 0 30.00 15.67 15.71

2327.39 8614 153.15 1.08 80.00 2692.4 2793.4 2591.3 1740.2 2160.3 98.60 9.70 290 2345.28 6.41 0.00 3.99 0.733 0.000 0.140 2676.28 2777.88 2574.69 1739.44 3644.06 0 0 0 11.42 30.00 15.75

2413.74 1156 153.15 1.05 0.00 2672.8 2774.0 2571.7 1739.9 3644.5 89.05 11.34 307 2422.22 0.00 0.00 3.65 0.000 0.000 0.058 2673.22 2774.88 2571.56 1740.00 2159.94 0 0 0 30.00 30.00 15.83

2609.66 10403 185.57 1.17 0.00 2671.9 2773.4 2570.4 1740.3 2160.0 71.17 8.50 327 2641.77 26.88 0.31 0.00 0.983 0.070 0.000 2544.72 2654.56 2434.88 1795.00 2160.19 0 0 0 11.54 15.90 30.00

2824.42 260 185.57 1.17 80.00 2537.5 2645.6 2429.4 1795.3 2159.8 46.44 11.97 351 2833.64 0.00 0.00 3.96 0.000 0.000 0.139 2536.91 2645.00 2428.81 1796.75 3645.12 0 0 0 30.00 30.00 15.81

2936.55 5253 185.57 1.09 0.00 2536.0 2643.3 2428.6 1797.0 3644.6 30.88 14.12 372 2945.73 0.00 0.30 3.65 0.000 0.187 0.060 2538.81 2646.75 2430.88 1758.75 2158.00 0 0 0 30.00 15.82 15.88

3130.04 10663 249.36 1.28 80.00 2535.3 2643.4 2427.2 1758.2 2158.1 14.28 7.05 410 3193.46 48.10 0.37 4.02 0.950 0.068 0.138 2280.84 2402.50 2159.19 1820.19 3644.25 0 0 0 11.48 15.94 15.62

3422.87 11431 491.43 1.65 0.00 2273.7 2394.8 2152.6 1819.9 3644.2 5.85 -1.21 467 3512.67 74.21 0.50 3.64 0.939 0.062 0.055 1867.53 2005.81 1729.25 1908.75 2157.19 0 0 0 11.49 15.85 15.86

3513 end climb: NO_VERTICAL_VELOCITY

state 3513 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	21	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	1.1226897	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	6.0832834	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	190623,142831,4736.857,-12256.133,21,1.0,22,15.4	KALMAN_CONTROL	0.000,0.000
_CALLS	1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_DEPTHo	1.53	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.1	MHEAD_RNG_PITCHd_Wd	191.4,1908,-17.6,-10.000,-21.21,2209,0.182
GPS2	190623,143143,4736.870,-12256.110,2,0.7,5,15.4	D_GRID	168
SPEED_LIMITS	0.173,0.258	IRON	1.000000,0.005108,-0.073744,0.011616,1.117184,0.129586,0.038129,0.084060,1.124663,-433.319183,-1937.805908,-122.624062
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	1687188614,5.1,0,stop	_10V_AH	14.82,0.000
WARN	HSCICON 3,0,0,0,0,0 (vee )	FG_AHR_24Vo	6.261
FREEZE	4.44,14.346,-1.520,0,1,0	FG_AHR_10Vo	1.145
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3777.54,240.66,0.914,0,500.8,585.8,415.8,686.64	MEM1	65508,1,0,0
SM_GC	1.36,0.00,10.95,0.34,0.000,0.052,0.104,497.8,581.0,414.6,197.8,2294.1,0,0,0,30.00,15.43,15.43	MEM2	944512,30,101636,91
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12964,481
IRIDIUM_FIX	4735.53,-12254.47,190623,133500	CAP_FILE_SIZE	168549,0
TCM_TEMP	15.51	SDSIZE	3887104,3868448
SC_FREEKB	3871808	SDFILEDIR	181,22
RAFOS_CLK	-2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1410.1
HUMID	52.02	MAGCAL	1.000000,0.011255,-0.082188,0.019668,1.109066,0.116476,0.043055,0.077477,1.070501,-346.8,-1896.3,138.0,36,0.0097,0
TEMP	10.52	IMPLIED_C_PITCH	1526,17.63,261,0.0,0.00
INTERNAL_PRESSURE	8.04059	IMPLIED_C_VBD	3278,21.507574,261,0
_24V_AH	14.85,6.314	GPS	190623,153740,4736.643,-12256.293,1,1.4,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	738	1120	12277.69	nil	0	0	0.00
Pitch_motor	25	253	96.66	nil	0	0	0.00
Roll_motor	46	211	145.62	nil	0	0	0.00
Iridium	123	187	344.78	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	2281	5	173.14	SciCon	3518	7	380.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1518	0	7.20
Compass	1219	5	90.33
RAFOS	311	40	184.86
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
6.77	16386	-146.63	-1.16	0.00	495.2	574.0	416.3	196.5	2249.9	0.00	0.00	0	74.39	62.75	0.00	0.00	0.005	0.000	0.000	2080.50	2168.75	1992.25	196.81	2250.69	0	0	0	15.72	30.00	30.00
74.92	18727	-146.63	-1.16	80.00	2082.6	2172.9	1992.2	196.6	2249.9	3.49	-2.98	11	157.57	52.70	8.26	3.98	0.005	0.254	0.123	3898.84	3986.88	3810.81	1220.25	3741.25	0	0	0	15.80	15.62	15.72
236.65	3205	-146.63	-0.84	0.00	3900.4	3986.6	3814.2	1219.9	3741.5	22.48	-15.44	41	245.40	0.00	0.57	3.61	0.000	0.168	0.046	3900.97	3987.00	3814.94	1299.06	2247.00	0	0	0	30.00	15.76	15.83
429.46	32	-146.63	-0.84	0.00	3900.7	3986.5	3814.9	1298.9	2246.7	39.64	-8.52	79	433.47	0.00	0.00	0.00	0.000	0.000	0.000	3900.94	3987.12	3814.75	1299.00	2246.44	0	0	0	30.00	30.00	30.00
621.42	32	-146.63	-0.84	0.00	3901.0	3986.3	3815.6	1299.4	2247.0	56.36	-8.67	110	623.29	0.00	0.00	0.00	0.000	0.000	0.000	3900.91	3986.19	3815.62	1299.12	2246.56	0	0	0	30.00	30.00	30.00
811.46	32	-146.63	-0.84	0.00	3901.9	3986.9	3816.9	1299.1	2246.8	73.33	-9.29	129	813.33	0.00	0.00	0.00	0.000	0.000	0.000	3901.53	3986.19	3816.88	1299.19	2246.81	0	0	0	30.00	30.00	30.00
1001.64	160	-146.63	-0.88	0.00	3902.3	3986.9	3817.8	1299.1	2246.9	90.67	-8.95	148	1003.52	0.00	0.00	0.00	0.000	0.000	0.000	3901.91	3986.88	3816.94	1299.38	2246.88	0	0	0	30.00	30.00	30.00
1186.66	420	-146.63	-0.92	80.00	3902.5	3986.6	3818.4	1299.0	2246.8	106.97	-8.68	167	1195.63	0.00	0.00	3.94	0.000	0.000	0.129	3902.53	3987.19	3817.88	1299.19	3740.12	0	0	0	30.00	30.00	15.98
1218.96	1060	-146.63	-0.92	0.00	3902.6	3986.6	3818.6	1299.1	3740.6	110.18	-9.32	173	1227.24	0.00	0.00	3.56	0.000	0.000	0.047	3902.75	3987.19	3818.31	1299.12	2246.50	0	0	0	30.00	30.00	16.03
1414.94	4257	-146.63	-0.98	0.00	3902.6	3986.4	3818.7	1299.2	2246.5	127.07	-8.61	193	1417.20	0.00	0.29	0.00	0.000	0.066	0.000	3903.16	3987.25	3819.06	1244.56	2246.56	0	0	0	30.00	16.05	30.00
1604.88	2177	-146.63	-0.94	0.00	3902.4	3986.4	3818.4	1244.5	2246.5	147.75	-11.15	212	1607.15	0.00	0.23	0.00	0.000	0.157	0.000	3902.03	3985.94	3818.12	1274.94	2246.38	0	0	0	30.00	16.04	30.00
1641	end dive: TARGET_DEPTH_EXCEEDED
state	1641	begin apogee
1643.39	10243	0.00	-0.28	0.00	3903.0	3986.8	3819.2	1274.8	2152.9	151.46	-10.26	214	1767.03	111.06	1.09	0.09	1.120	0.136	0.211	3301.06	3401.12	3201.00	1435.69	2200.06	0	0	0	11.48	15.98	15.35
1768	end apogee: CONTROL_FINISHED_OK
state	1768	begin climb
1768.51	10243	146.63	1.16	0.00	3297.1	3396.8	3197.4	1435.8	2199.8	155.95	0.00	225	1899.61	115.29	2.41	0.00	1.078	0.107	0.000	2703.09	2805.62	2600.56	1783.69	2199.75	0	0	0	11.33	15.40	30.00
2083.61	260	146.63	1.16	80.00	2694.3	2794.6	2594.0	1783.9	2199.7	125.13	12.67	261	2093.05	0.00	0.00	3.98	0.000	0.000	0.144	2694.16	2794.06	2594.25	1781.88	3644.06	0	0	0	30.00	30.00	15.62
2132.29	21639	146.63	1.01	0.00	2693.1	2793.1	2593.1	1783.4	3643.7	118.33	14.56	270	2141.77	0.00	0.37	3.69	0.000	0.189	0.061	2694.03	2794.19	2593.88	1739.81	2161.06	0	0	0	30.00	15.67	15.71
2327.39	8614	153.15	1.08	80.00	2692.4	2793.4	2591.3	1740.2	2160.3	98.60	9.70	290	2345.28	6.41	0.00	3.99	0.733	0.000	0.140	2676.28	2777.88	2574.69	1739.44	3644.06	0	0	0	11.42	30.00	15.75
2413.74	1156	153.15	1.05	0.00	2672.8	2774.0	2571.7	1739.9	3644.5	89.05	11.34	307	2422.22	0.00	0.00	3.65	0.000	0.000	0.058	2673.22	2774.88	2571.56	1740.00	2159.94	0	0	0	30.00	30.00	15.83
2609.66	10403	185.57	1.17	0.00	2671.9	2773.4	2570.4	1740.3	2160.0	71.17	8.50	327	2641.77	26.88	0.31	0.00	0.983	0.070	0.000	2544.72	2654.56	2434.88	1795.00	2160.19	0	0	0	11.54	15.90	30.00
2824.42	260	185.57	1.17	80.00	2537.5	2645.6	2429.4	1795.3	2159.8	46.44	11.97	351	2833.64	0.00	0.00	3.96	0.000	0.000	0.139	2536.91	2645.00	2428.81	1796.75	3645.12	0	0	0	30.00	30.00	15.81
2936.55	5253	185.57	1.09	0.00	2536.0	2643.3	2428.6	1797.0	3644.6	30.88	14.12	372	2945.73	0.00	0.30	3.65	0.000	0.187	0.060	2538.81	2646.75	2430.88	1758.75	2158.00	0	0	0	30.00	15.82	15.88
3130.04	10663	249.36	1.28	80.00	2535.3	2643.4	2427.2	1758.2	2158.1	14.28	7.05	410	3193.46	48.10	0.37	4.02	0.950	0.068	0.138	2280.84	2402.50	2159.19	1820.19	3644.25	0	0	0	11.48	15.94	15.62
3422.87	11431	491.43	1.65	0.00	2273.7	2394.8	2152.6	1819.9	3644.2	5.85	-1.21	467	3512.67	74.21	0.50	3.64	0.939	0.062	0.055	1867.53	2005.81	1729.25	1908.75	2157.19	0	0	0	11.49	15.85	15.86
3513	end climb: NO_VERTICAL_VELOCITY
state	3513	begin surface