Glider dive log

HoodCanal 18Jun23 * SG245 * Dive index * Mission links * Dive 9 * 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 9 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 0

N_DIVES 10 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 0.82503945 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 3.8826473 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 10 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 0.82503945 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.8826473 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 9 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 190623,020531,4736.481,-12257.129,1,0.8,3,15.4 KALMAN_CONTROL 0.000,0.000

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

_SM_DEPTHo 1.40 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.3 MHEAD_RNG_PITCHd_Wd 27.4,1387,-17.6,-10.000,-21.21,2209,0.154

GPS2 190623,020851,4736.451,-12257.155,2,0.9,4,15.4 D_GRID 153

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 N OSC 8000266

TGT_LATLONG 4737.000,-12256.400 WARN HSCICON 3,0,0,0,0,0 (vee )

TGT_RADIUS 300.000

Post-dive calculations and measurements:

NET CACST,8,0,20230619025011.264341,18,32767,45,0114,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,5.8,2.10,-100,0.90,-01,0.26,70,10000,5000,0,-1,00,00*46 _24V_AH 14.81,3.983

NET_PING 1687143013,29,665.036987,5.800000,-0.852850 _10V_AH 14.82,0.000

NAV 1687144147,0.2,0,stop FG_AHR_24Vo 4.060

WARN HSCICON 3,0,0,0,0,0 (vee ) FG_AHR_10Vo 0.863

FREEZE 3.75,14.236,-1.493,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3467.27,200.59,0.906,0,500.9,588.3,413.4,686.63 MEM2 943880,36,101988,99

SM_GC 1.69,0.00,11.05,0.33,0.000,0.059,0.106,497.4,582.3,412.5,198.1,2294.6,0,0,0,30.00,15.40,15.39 DATA_FILE_SIZE 12927,496

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 199543,0

IRIDIUM_FIX 4736.00,-12258.89,190623,020159 SDSIZE 3887104,3871872

TCM_TEMP 15.69 SDFILEDIR 97,10

SC_FREEKB 3875648 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,-0.055060,-0.090945,0.029235,1.133767,0.206083,-0.059816,-0.072704,1.203541,-530.9,-2156.2,-729.6,34,0.0577,0

HUMID 51.62 IMPLIED_C_PITCH 1504,15.89,234,0.0,0.00

TEMP 10.84 IMPLIED_C_VBD 3266,19.609266,208,0

INTERNAL_PRESSURE 8.04531 GPS 190623,031001,4736.594,-12257.170,2,0.8,26,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 742 1081 11890.19 nil 0 0 0.00

Pitch_motor 27 263 105.52 nil 0 0 0.00

Roll_motor 68 220 224.04 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 2194 5 166.55 SciCon 3247 7 350.89

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1207 0 5.73

Compass 1212 5 89.84

RAFOS 1926 40 1142.06

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

7.13 16386 -146.63 -1.16 0.00 495.4 574.7 416.2 201.9 2297.2 0.00 0.00 0 93.50 80.47 0.00 0.00 0.005 0.000 0.000 2458.31 2546.44 2370.19 202.00 2298.44 0 0 0 15.08 30.00 30.00

94.03 18727 -146.63 -1.16 80.00 2461.3 2546.3 2376.2 201.7 2297.8 3.13 -2.14 15 161.96 40.22 7.93 3.75 0.005 0.264 0.125 3898.62 3991.38 3805.88 1219.75 3743.06 0 0 0 15.90 15.73 15.79

391.21 3205 -146.63 -0.85 0.00 3900.3 3990.2 3810.4 1220.0 3742.3 43.90 -15.63 72 400.35 0.00 0.54 3.59 0.000 0.188 0.049 3900.31 3990.75 3809.88 1294.06 2248.44 0 0 0 30.00 15.80 15.88

589.39 548 -146.63 -0.85 -80.00 3900.7 3990.3 3811.0 1295.2 2247.4 62.84 -9.00 97 598.45 0.00 0.00 3.86 0.000 0.000 0.136 3901.19 3990.56 3811.81 1295.50 809.31 0 0 0 30.00 30.00 15.84

825.92 1060 -146.63 -0.85 0.00 3901.0 3990.1 3811.8 1295.2 809.3 86.75 -9.80 143 834.21 0.00 0.00 3.56 0.000 0.000 0.068 3901.25 3991.00 3811.50 1295.19 2291.81 0 0 0 30.00 30.00 15.88

1021.75 548 -146.63 -0.85 -80.00 3900.8 3990.0 3811.6 1295.1 2292.0 103.57 -8.71 163 1030.89 0.00 0.00 3.96 0.000 0.000 0.136 3901.16 3990.44 3811.88 1295.00 810.94 0 0 0 30.00 30.00 15.85

1100.09 1156 -146.63 -0.89 0.00 3901.1 3989.5 3812.8 1295.5 810.5 111.29 -10.09 178 1109.00 0.00 0.00 3.56 0.000 0.000 0.068 3901.47 3990.62 3812.31 1295.50 2293.81 0 0 0 30.00 30.00 15.91

1295.22 4257 -146.63 -1.16 0.00 3902.4 3990.6 3814.2 1295.5 2293.6 124.47 -4.64 198 1297.84 0.00 0.58 0.00 0.000 0.117 0.000 3902.28 3990.19 3814.38 1211.19 2293.75 0 0 0 30.00 15.93 30.00

1485.26 4517 -146.63 -1.55 80.00 3902.0 3990.2 3813.8 1210.9 2294.0 124.76 -1.59 217 1498.48 0.00 0.58 3.74 0.000 0.091 0.139 3902.22 3990.38 3814.06 1113.44 3742.00 0 0 0 30.00 15.95 15.93

1567 end dive: NO_VERTICAL_VELOCITY

state 1567 begin apogee

1576.82 10243 0.00 -0.28 0.00 3902.8 3991.0 3814.7 1113.4 2154.4 124.80 0.00 233 1704.18 110.78 2.18 0.09 1.081 0.115 0.221 3298.81 3401.19 3196.44 1437.38 2201.12 0 0 0 11.32 15.98 15.35

1705 end apogee: CONTROL_FINISHED_OK

state 1705 begin climb

1705.65 10759 146.63 1.16 -80.00 3297.0 3398.6 3195.4 1437.5 2200.9 124.78 0.00 245 1843.35 113.49 2.30 4.27 1.046 0.094 0.159 2702.25 2804.19 2600.31 1783.62 716.88 0 0 0 11.01 15.43 15.18

1895.79 5253 146.63 1.03 0.00 2695.4 2793.1 2597.8 1784.0 716.7 110.68 12.92 278 1905.38 0.00 0.32 3.72 0.000 0.180 0.078 2695.62 2793.50 2597.75 1745.06 2195.31 0 0 0 30.00 15.44 15.48

2090.92 420 148.32 1.08 80.00 2693.5 2792.5 2594.4 1745.4 2194.9 90.85 9.92 298 2099.92 0.00 0.00 3.80 0.000 0.000 0.139 2692.12 2791.31 2592.94 1745.62 3644.56 0 0 0 30.00 30.00 15.70

2199.18 1156 148.32 1.02 0.00 2692.8 2791.6 2593.9 1745.2 3644.6 78.63 11.48 319 2208.15 0.00 0.00 3.62 0.000 0.000 0.059 2691.81 2790.88 2592.75 1745.44 2160.12 0 0 0 30.00 30.00 15.81

2394.30 8614 165.53 1.10 80.00 2692.7 2791.9 2593.6 1745.1 2159.6 60.39 9.20 339 2422.72 15.61 0.00 3.93 0.924 0.000 0.138 2626.03 2729.12 2522.94 1744.75 3645.81 0 0 0 11.32 30.00 15.76

2504.61 1028 165.53 1.10 0.00 2620.6 2722.3 2518.9 1744.9 3645.4 49.24 10.95 360 2513.59 0.00 0.00 3.63 0.000 0.000 0.059 2619.56 2721.25 2517.88 1745.62 2157.94 0 0 0 30.00 30.00 15.84

2697.90 10663 200.04 1.23 80.00 2619.9 2722.3 2517.6 1745.4 2158.2 31.60 8.40 398 2739.29 27.79 0.37 3.97 0.948 0.068 0.138 2484.38 2595.62 2373.12 1808.75 3644.06 0 0 0 11.33 15.90 15.69

2788.53 5253 200.04 1.13 0.00 2478.4 2587.6 2369.1 1808.0 3644.4 21.05 12.93 415 2797.78 0.00 0.32 3.63 0.000 0.187 0.059 2478.69 2587.75 2369.62 1768.44 2159.69 0 0 0 30.00 15.73 15.80

3005.87 10663 277.89 1.35 80.00 2476.6 2586.9 2366.3 1768.9 2159.2 6.33 6.39 453 3078.43 57.58 0.41 4.02 0.935 0.069 0.134 2164.69 2293.06 2036.31 1836.38 3644.94 0 0 0 11.42 15.86 15.51

3132.76 11431 429.26 1.65 0.00 2160.6 2288.2 2032.9 1836.3 3644.9 4.38 2.99 476 3245.69 95.82 0.41 3.64 0.922 0.069 0.055 1627.44 1761.75 1493.12 1908.06 2156.88 0 0 0 11.23 15.63 15.64

3246 end climb: NO_VERTICAL_VELOCITY

state 3246 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	9	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	0
N_DIVES	10	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	0.82503945	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	3.8826473	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	190623,020531,4736.481,-12257.129,1,0.8,3,15.4	KALMAN_CONTROL	0.000,0.000
_CALLS	1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_DEPTHo	1.40	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.3	MHEAD_RNG_PITCHd_Wd	27.4,1387,-17.6,-10.000,-21.21,2209,0.154
GPS2	190623,020851,4736.451,-12257.155,2,0.9,4,15.4	D_GRID	153
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	N	OSC	8000266
TGT_LATLONG	4737.000,-12256.400	WARN	HSCICON 3,0,0,0,0,0 (vee )
TGT_RADIUS	300.000

NET	CACST,8,0,20230619025011.264341,18,32767,45,0114,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,5.8,2.10,-100,0.90,-01,0.26,70,10000,5000,0,-1,00,00*46	_24V_AH	14.81,3.983
NET_PING	1687143013,29,665.036987,5.800000,-0.852850	_10V_AH	14.82,0.000
NAV	1687144147,0.2,0,stop	FG_AHR_24Vo	4.060
WARN	HSCICON 3,0,0,0,0,0 (vee )	FG_AHR_10Vo	0.863
FREEZE	3.75,14.236,-1.493,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3467.27,200.59,0.906,0,500.9,588.3,413.4,686.63	MEM2	943880,36,101988,99
SM_GC	1.69,0.00,11.05,0.33,0.000,0.059,0.106,497.4,582.3,412.5,198.1,2294.6,0,0,0,30.00,15.40,15.39	DATA_FILE_SIZE	12927,496
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	199543,0
IRIDIUM_FIX	4736.00,-12258.89,190623,020159	SDSIZE	3887104,3871872
TCM_TEMP	15.69	SDFILEDIR	97,10
SC_FREEKB	3875648	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,-0.055060,-0.090945,0.029235,1.133767,0.206083,-0.059816,-0.072704,1.203541,-530.9,-2156.2,-729.6,34,0.0577,0
HUMID	51.62	IMPLIED_C_PITCH	1504,15.89,234,0.0,0.00
TEMP	10.84	IMPLIED_C_VBD	3266,19.609266,208,0
INTERNAL_PRESSURE	8.04531	GPS	190623,031001,4736.594,-12257.170,2,0.8,26,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	742	1081	11890.19	nil	0	0	0.00
Pitch_motor	27	263	105.52	nil	0	0	0.00
Roll_motor	68	220	224.04	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	2194	5	166.55	SciCon	3247	7	350.89
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1207	0	5.73
Compass	1212	5	89.84
RAFOS	1926	40	1142.06
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
7.13	16386	-146.63	-1.16	0.00	495.4	574.7	416.2	201.9	2297.2	0.00	0.00	0	93.50	80.47	0.00	0.00	0.005	0.000	0.000	2458.31	2546.44	2370.19	202.00	2298.44	0	0	0	15.08	30.00	30.00
94.03	18727	-146.63	-1.16	80.00	2461.3	2546.3	2376.2	201.7	2297.8	3.13	-2.14	15	161.96	40.22	7.93	3.75	0.005	0.264	0.125	3898.62	3991.38	3805.88	1219.75	3743.06	0	0	0	15.90	15.73	15.79
391.21	3205	-146.63	-0.85	0.00	3900.3	3990.2	3810.4	1220.0	3742.3	43.90	-15.63	72	400.35	0.00	0.54	3.59	0.000	0.188	0.049	3900.31	3990.75	3809.88	1294.06	2248.44	0	0	0	30.00	15.80	15.88
589.39	548	-146.63	-0.85	-80.00	3900.7	3990.3	3811.0	1295.2	2247.4	62.84	-9.00	97	598.45	0.00	0.00	3.86	0.000	0.000	0.136	3901.19	3990.56	3811.81	1295.50	809.31	0	0	0	30.00	30.00	15.84
825.92	1060	-146.63	-0.85	0.00	3901.0	3990.1	3811.8	1295.2	809.3	86.75	-9.80	143	834.21	0.00	0.00	3.56	0.000	0.000	0.068	3901.25	3991.00	3811.50	1295.19	2291.81	0	0	0	30.00	30.00	15.88
1021.75	548	-146.63	-0.85	-80.00	3900.8	3990.0	3811.6	1295.1	2292.0	103.57	-8.71	163	1030.89	0.00	0.00	3.96	0.000	0.000	0.136	3901.16	3990.44	3811.88	1295.00	810.94	0	0	0	30.00	30.00	15.85
1100.09	1156	-146.63	-0.89	0.00	3901.1	3989.5	3812.8	1295.5	810.5	111.29	-10.09	178	1109.00	0.00	0.00	3.56	0.000	0.000	0.068	3901.47	3990.62	3812.31	1295.50	2293.81	0	0	0	30.00	30.00	15.91
1295.22	4257	-146.63	-1.16	0.00	3902.4	3990.6	3814.2	1295.5	2293.6	124.47	-4.64	198	1297.84	0.00	0.58	0.00	0.000	0.117	0.000	3902.28	3990.19	3814.38	1211.19	2293.75	0	0	0	30.00	15.93	30.00
1485.26	4517	-146.63	-1.55	80.00	3902.0	3990.2	3813.8	1210.9	2294.0	124.76	-1.59	217	1498.48	0.00	0.58	3.74	0.000	0.091	0.139	3902.22	3990.38	3814.06	1113.44	3742.00	0	0	0	30.00	15.95	15.93
1567	end dive: NO_VERTICAL_VELOCITY
state	1567	begin apogee
1576.82	10243	0.00	-0.28	0.00	3902.8	3991.0	3814.7	1113.4	2154.4	124.80	0.00	233	1704.18	110.78	2.18	0.09	1.081	0.115	0.221	3298.81	3401.19	3196.44	1437.38	2201.12	0	0	0	11.32	15.98	15.35
1705	end apogee: CONTROL_FINISHED_OK
state	1705	begin climb
1705.65	10759	146.63	1.16	-80.00	3297.0	3398.6	3195.4	1437.5	2200.9	124.78	0.00	245	1843.35	113.49	2.30	4.27	1.046	0.094	0.159	2702.25	2804.19	2600.31	1783.62	716.88	0	0	0	11.01	15.43	15.18
1895.79	5253	146.63	1.03	0.00	2695.4	2793.1	2597.8	1784.0	716.7	110.68	12.92	278	1905.38	0.00	0.32	3.72	0.000	0.180	0.078	2695.62	2793.50	2597.75	1745.06	2195.31	0	0	0	30.00	15.44	15.48
2090.92	420	148.32	1.08	80.00	2693.5	2792.5	2594.4	1745.4	2194.9	90.85	9.92	298	2099.92	0.00	0.00	3.80	0.000	0.000	0.139	2692.12	2791.31	2592.94	1745.62	3644.56	0	0	0	30.00	30.00	15.70
2199.18	1156	148.32	1.02	0.00	2692.8	2791.6	2593.9	1745.2	3644.6	78.63	11.48	319	2208.15	0.00	0.00	3.62	0.000	0.000	0.059	2691.81	2790.88	2592.75	1745.44	2160.12	0	0	0	30.00	30.00	15.81
2394.30	8614	165.53	1.10	80.00	2692.7	2791.9	2593.6	1745.1	2159.6	60.39	9.20	339	2422.72	15.61	0.00	3.93	0.924	0.000	0.138	2626.03	2729.12	2522.94	1744.75	3645.81	0	0	0	11.32	30.00	15.76
2504.61	1028	165.53	1.10	0.00	2620.6	2722.3	2518.9	1744.9	3645.4	49.24	10.95	360	2513.59	0.00	0.00	3.63	0.000	0.000	0.059	2619.56	2721.25	2517.88	1745.62	2157.94	0	0	0	30.00	30.00	15.84
2697.90	10663	200.04	1.23	80.00	2619.9	2722.3	2517.6	1745.4	2158.2	31.60	8.40	398	2739.29	27.79	0.37	3.97	0.948	0.068	0.138	2484.38	2595.62	2373.12	1808.75	3644.06	0	0	0	11.33	15.90	15.69
2788.53	5253	200.04	1.13	0.00	2478.4	2587.6	2369.1	1808.0	3644.4	21.05	12.93	415	2797.78	0.00	0.32	3.63	0.000	0.187	0.059	2478.69	2587.75	2369.62	1768.44	2159.69	0	0	0	30.00	15.73	15.80
3005.87	10663	277.89	1.35	80.00	2476.6	2586.9	2366.3	1768.9	2159.2	6.33	6.39	453	3078.43	57.58	0.41	4.02	0.935	0.069	0.134	2164.69	2293.06	2036.31	1836.38	3644.94	0	0	0	11.42	15.86	15.51
3132.76	11431	429.26	1.65	0.00	2160.6	2288.2	2032.9	1836.3	3644.9	4.38	2.99	476	3245.69	95.82	0.41	3.64	0.922	0.069	0.055	1627.44	1761.75	1493.12	1908.06	2156.88	0	0	0	11.23	15.63	15.64
3246	end climb: NO_VERTICAL_VELOCITY
state	3246	begin surface