Glider dive log

HoodCanal 18Jun23 * SG246 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 246 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2550 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 4

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 2.2

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 720 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 7

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 200 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 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 15 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.011927586 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 3.1290908 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -171.61913 SEABIRD_T_J 4.3e-06

MASS 72348 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022436336 SEABIRD_C_G -10

NAV_MODE 2 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 265 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3880 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 2540 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 0.011927586 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.1290908 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 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 15 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 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 246 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 2.2 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022436336 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -171.61913 T_NO_W 60

C_ROLL_CLIMB 2550 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2540 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 7 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 72348 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 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 3880 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 9 MISSION 3 ROLL_MIN 265 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 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 190623,011032,4736.756,-12256.626,3,1.7,12,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190623,011540,4736.716,-12256.717,2,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 21.7,658,-17.6,-10.000,-21.21,2209,0.120

SPEED_LIMITS 0.173,0.258 D_GRID 165

TGT_NAME N IRON 1.000000,0.007754,0.003079,-0.008429,1.037673,-0.087575,0.011102,-0.018820,0.969588,366.668610,-590.715942,-626.946777

TGT_LATLONG 4737.000,-12256.400 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230619014508.281103,18,7884,38,0117,0150,07,01,01,00,01,1,029,246,0,5,1,0,150,14.3,5.41,-100,-2.41,-01,0.14,54,10000,5000,0,-1,00,00*62 _10V_AH 14.91,0.000

NAV 1687140255,6.4,0,stop FG_AHR_24Vo 3.304

NET_PING 1687139110,29,1574.806396,14.300000,-2.079421 FG_AHR_10Vo 0.013

FREEZE 3.62,14.102,-1.510,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3370.56,235.63,0.881,0,500.5,448.9,552.1,686.71 MEM2 945192,31,101216,77

SM_GC 1.57,0.00,11.24,0.09,0.000,0.043,0.165,497.4,446.5,548.4,187.6,2560.6,0,0,0,30.00,15.25,15.23 DATA_FILE_SIZE 12927,435

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 238703,0

IRIDIUM_FIX 4735.53,-12254.47,190623,011133 SDSIZE 3887104,3871840

TCM_TEMP 15.28 SDFILEDIR 96,10

SC_FREEKB 3875680 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1416.1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.080,217.8,1

HUMID 51.66 IMPLIED_C_PITCH 1575,17.99,223,0.0,0.00

TEMP 10.10 IMPLIED_C_VBD 3021,26.964066,223,0

INTERNAL_PRESSURE 8.53312 GPS 190623,021502,4736.908,-12256.492,13,0.7,31,15.4

_24V_AH 14.88,3.381

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 731 1075 11706.75 nil 0 0 0.00

Pitch_motor 25 267 102.56 nil 0 0 0.00

Roll_motor 34 201 102.39 nil 0 0 0.00

Iridium 185 178 492.26 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 2071 5 158.13 SciCon 3129 9 430.61

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1449 0 6.92

Compass 1006 5 75.02

RAFOS 310 40 185.37

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.72 16386 -146.63 -1.35 0.00 496.3 460.1 532.4 187.0 2515.2 0.00 0.00 0 99.65 89.18 0.00 0.00 0.005 0.000 0.000 2572.53 2534.44 2610.62 187.00 2515.62 0 0 0 14.74 30.00 30.00

99.92 18727 -146.63 -1.35 80.00 2573.8 2535.8 2611.9 187.1 2515.3 3.21 -1.90 17 159.84 40.22 8.35 3.45 0.005 0.267 0.121 3898.84 3862.75 3934.94 1272.50 3888.69 0 0 0 15.61 15.42 15.51

163.17 3205 -146.63 -1.15 0.00 3898.4 3862.4 3934.4 1272.8 3888.7 8.93 -12.61 29 169.10 0.00 0.37 3.18 0.000 0.212 0.028 3898.75 3863.19 3934.31 1322.12 2499.31 0 0 0 30.00 15.49 15.58

353.19 128 -146.63 -1.11 0.00 3900.9 3862.9 3938.8 1322.0 2499.1 36.39 -13.29 67 356.91 0.00 0.00 0.00 0.000 0.000 0.000 3901.16 3862.88 3939.44 1321.94 2499.12 0 0 0 30.00 30.00 30.00

542.52 644 -146.63 -1.08 -80.00 3901.1 3863.1 3939.1 1322.2 2499.0 59.15 -12.93 97 551.95 0.00 0.00 3.49 0.000 0.000 0.091 3901.22 3863.19 3939.25 1322.19 1071.19 0 0 0 30.00 30.00 15.61

571.05 1028 -146.63 -1.08 0.00 3901.1 3862.8 3939.3 1322.2 1071.0 63.47 -13.18 103 577.35 0.00 0.00 3.51 0.000 0.000 0.046 3901.09 3862.81 3939.38 1322.25 2554.25 0 0 0 30.00 30.00 15.64

766.35 0 -146.63 -1.08 0.00 3901.4 3862.8 3940.1 1321.9 2555.0 87.26 -11.91 123 767.92 0.00 0.00 0.00 0.000 0.000 0.000 3901.12 3862.62 3939.62 1322.19 2555.25 0 0 0 30.00 30.00 30.00

956.39 260 -146.63 -1.08 80.00 3901.3 3862.5 3940.2 1322.1 2555.3 110.94 -12.34 142 962.44 0.00 0.00 3.35 0.000 0.000 0.125 3901.38 3863.12 3939.62 1321.81 3889.19 0 0 0 30.00 30.00 15.68

1005.47 3205 -146.63 -1.03 0.00 3901.5 3862.9 3940.1 1322.2 3889.0 118.52 -15.56 152 1012.49 0.00 0.19 3.14 0.000 0.176 0.026 3901.59 3863.12 3940.06 1352.88 2500.44 0 0 0 30.00 15.69 15.75

1201.63 160 -146.63 -1.06 0.00 3901.5 3862.8 3940.1 1352.5 2500.2 139.01 -9.53 172 1203.20 0.00 0.00 0.00 0.000 0.000 0.000 3901.44 3862.62 3940.25 1352.50 2500.50 0 0 0 30.00 30.00 30.00

1321 end dive: TARGET_DEPTH_EXCEEDED

state 1321 begin apogee

1322.62 10243 0.00 -0.33 0.00 3901.4 3862.6 3940.2 1353.0 2566.2 150.95 -10.29 184 1436.92 105.47 1.11 0.08 1.075 0.138 0.202 3300.84 3255.50 3346.19 1520.00 2520.31 0 0 0 11.55 15.72 15.36

1438 end apogee: CONTROL_FINISHED_OK

state 1438 begin climb

1438.27 10243 146.63 1.35 0.00 3297.2 3251.6 3342.8 1520.4 2520.9 155.33 0.00 195 1559.65 111.47 2.69 0.00 1.046 0.102 0.000 2699.81 2638.25 2761.38 1930.25 2520.12 0 0 0 11.38 15.35 30.00

1741.80 21127 146.63 1.21 -80.00 2690.7 2628.7 2752.6 1930.2 2520.2 121.89 15.16 226 1752.64 0.00 0.35 3.53 0.000 0.172 0.093 2691.59 2630.06 2753.12 1889.88 1081.56 0 0 0 30.00 15.37 15.39

1785.29 17542 146.63 1.11 0.00 2689.2 2627.4 2750.9 1889.3 1081.6 115.59 13.90 235 1792.35 0.00 0.00 3.55 0.000 0.000 0.049 2689.22 2627.25 2751.19 1889.81 2563.00 0 0 0 30.00 30.00 15.46

1981.31 20871 146.63 1.02 80.00 2687.7 2624.6 2750.8 1889.8 2563.2 91.27 12.29 255 1988.67 0.00 0.33 3.37 0.000 0.182 0.127 2686.03 2623.50 2748.56 1842.94 3888.75 0 0 0 30.00 15.52 15.52

2021.31 21639 146.63 0.89 0.00 2687.4 2625.2 2749.6 1842.5 3888.8 86.21 12.54 263 2028.38 0.00 0.22 3.15 0.000 0.186 0.028 2687.56 2625.19 2749.94 1810.00 2508.62 0 0 0 30.00 15.53 15.59

2217.30 8226 201.64 0.96 0.00 2686.8 2623.6 2749.9 1810.2 2508.4 71.49 7.45 283 2261.75 41.42 0.00 0.00 0.963 0.000 0.000 2479.22 2409.06 2549.38 1808.88 2508.12 0 0 0 11.48 30.00 30.00

2451.41 10403 235.79 1.02 0.00 2468.8 2395.5 2542.1 1810.2 2507.8 50.19 8.42 307 2482.20 26.93 0.28 0.00 0.917 0.062 0.000 2336.88 2260.06 2413.69 1856.69 2508.19 0 0 0 11.54 15.57 30.00

2666.95 16386 235.79 1.02 0.00 2329.7 2251.1 2408.3 1856.2 2508.2 26.33 10.92 345 2670.93 0.00 0.00 0.00 0.000 0.000 0.000 2329.69 2251.25 2408.12 1856.62 2508.00 0 0 0 30.00 30.00 30.00

2852.06 8226 293.99 1.09 0.00 2328.3 2249.8 2406.9 1856.2 2508.1 8.56 7.30 382 2898.51 43.00 0.00 0.00 0.901 0.000 0.000 2099.31 2015.38 2183.25 1856.25 2507.50 0 0 0 11.41 30.00 30.00

3079.80 10403 515.17 1.47 -80.00 2091.0 2005.1 2176.9 1856.9 2508.1 3.89 -0.24 427 3121.42 38.35 0.64 0.00 0.889 0.050 0.000 1886.84 1799.19 1974.50 1964.94 2507.88 0 0 0 11.50 15.57 30.00

3122 end climb: NO_VERTICAL_VELOCITY

state 3122 begin surface

ID	246	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2550	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	4
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	2.2
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	720	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	7
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	200	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	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	15	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.011927586	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	3.1290908	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-171.61913	SEABIRD_T_J	4.3e-06
MASS	72348	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022436336	SEABIRD_C_G	-10
NAV_MODE	2	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	265	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3880	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	2540	ALTIM_FREQUENCY	13

GPS1	190623,011032,4736.756,-12256.626,3,1.7,12,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190623,011540,4736.716,-12256.717,2,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	21.7,658,-17.6,-10.000,-21.21,2209,0.120
SPEED_LIMITS	0.173,0.258	D_GRID	165
TGT_NAME	N	IRON	1.000000,0.007754,0.003079,-0.008429,1.037673,-0.087575,0.011102,-0.018820,0.969588,366.668610,-590.715942,-626.946777
TGT_LATLONG	4737.000,-12256.400	OSC	8000266

NET	CACST,8,0,20230619014508.281103,18,7884,38,0117,0150,07,01,01,00,01,1,029,246,0,5,1,0,150,14.3,5.41,-100,-2.41,-01,0.14,54,10000,5000,0,-1,00,00*62	_10V_AH	14.91,0.000
NAV	1687140255,6.4,0,stop	FG_AHR_24Vo	3.304
NET_PING	1687139110,29,1574.806396,14.300000,-2.079421	FG_AHR_10Vo	0.013
FREEZE	3.62,14.102,-1.510,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3370.56,235.63,0.881,0,500.5,448.9,552.1,686.71	MEM2	945192,31,101216,77
SM_GC	1.57,0.00,11.24,0.09,0.000,0.043,0.165,497.4,446.5,548.4,187.6,2560.6,0,0,0,30.00,15.25,15.23	DATA_FILE_SIZE	12927,435
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	238703,0
IRIDIUM_FIX	4735.53,-12254.47,190623,011133	SDSIZE	3887104,3871840
TCM_TEMP	15.28	SDFILEDIR	96,10
SC_FREEKB	3875680	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1416.1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.080,217.8,1
HUMID	51.66	IMPLIED_C_PITCH	1575,17.99,223,0.0,0.00
TEMP	10.10	IMPLIED_C_VBD	3021,26.964066,223,0
INTERNAL_PRESSURE	8.53312	GPS	190623,021502,4736.908,-12256.492,13,0.7,31,15.4
_24V_AH	14.88,3.381

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	731	1075	11706.75	nil	0	0	0.00
Pitch_motor	25	267	102.56	nil	0	0	0.00
Roll_motor	34	201	102.39	nil	0	0	0.00
Iridium	185	178	492.26	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	2071	5	158.13	SciCon	3129	9	430.61
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1449	0	6.92
Compass	1006	5	75.02
RAFOS	310	40	185.37
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.72	16386	-146.63	-1.35	0.00	496.3	460.1	532.4	187.0	2515.2	0.00	0.00	0	99.65	89.18	0.00	0.00	0.005	0.000	0.000	2572.53	2534.44	2610.62	187.00	2515.62	0	0	0	14.74	30.00	30.00
99.92	18727	-146.63	-1.35	80.00	2573.8	2535.8	2611.9	187.1	2515.3	3.21	-1.90	17	159.84	40.22	8.35	3.45	0.005	0.267	0.121	3898.84	3862.75	3934.94	1272.50	3888.69	0	0	0	15.61	15.42	15.51
163.17	3205	-146.63	-1.15	0.00	3898.4	3862.4	3934.4	1272.8	3888.7	8.93	-12.61	29	169.10	0.00	0.37	3.18	0.000	0.212	0.028	3898.75	3863.19	3934.31	1322.12	2499.31	0	0	0	30.00	15.49	15.58
353.19	128	-146.63	-1.11	0.00	3900.9	3862.9	3938.8	1322.0	2499.1	36.39	-13.29	67	356.91	0.00	0.00	0.00	0.000	0.000	0.000	3901.16	3862.88	3939.44	1321.94	2499.12	0	0	0	30.00	30.00	30.00
542.52	644	-146.63	-1.08	-80.00	3901.1	3863.1	3939.1	1322.2	2499.0	59.15	-12.93	97	551.95	0.00	0.00	3.49	0.000	0.000	0.091	3901.22	3863.19	3939.25	1322.19	1071.19	0	0	0	30.00	30.00	15.61
571.05	1028	-146.63	-1.08	0.00	3901.1	3862.8	3939.3	1322.2	1071.0	63.47	-13.18	103	577.35	0.00	0.00	3.51	0.000	0.000	0.046	3901.09	3862.81	3939.38	1322.25	2554.25	0	0	0	30.00	30.00	15.64
766.35	0	-146.63	-1.08	0.00	3901.4	3862.8	3940.1	1321.9	2555.0	87.26	-11.91	123	767.92	0.00	0.00	0.00	0.000	0.000	0.000	3901.12	3862.62	3939.62	1322.19	2555.25	0	0	0	30.00	30.00	30.00
956.39	260	-146.63	-1.08	80.00	3901.3	3862.5	3940.2	1322.1	2555.3	110.94	-12.34	142	962.44	0.00	0.00	3.35	0.000	0.000	0.125	3901.38	3863.12	3939.62	1321.81	3889.19	0	0	0	30.00	30.00	15.68
1005.47	3205	-146.63	-1.03	0.00	3901.5	3862.9	3940.1	1322.2	3889.0	118.52	-15.56	152	1012.49	0.00	0.19	3.14	0.000	0.176	0.026	3901.59	3863.12	3940.06	1352.88	2500.44	0	0	0	30.00	15.69	15.75
1201.63	160	-146.63	-1.06	0.00	3901.5	3862.8	3940.1	1352.5	2500.2	139.01	-9.53	172	1203.20	0.00	0.00	0.00	0.000	0.000	0.000	3901.44	3862.62	3940.25	1352.50	2500.50	0	0	0	30.00	30.00	30.00
1321	end dive: TARGET_DEPTH_EXCEEDED
state	1321	begin apogee
1322.62	10243	0.00	-0.33	0.00	3901.4	3862.6	3940.2	1353.0	2566.2	150.95	-10.29	184	1436.92	105.47	1.11	0.08	1.075	0.138	0.202	3300.84	3255.50	3346.19	1520.00	2520.31	0	0	0	11.55	15.72	15.36
1438	end apogee: CONTROL_FINISHED_OK
state	1438	begin climb
1438.27	10243	146.63	1.35	0.00	3297.2	3251.6	3342.8	1520.4	2520.9	155.33	0.00	195	1559.65	111.47	2.69	0.00	1.046	0.102	0.000	2699.81	2638.25	2761.38	1930.25	2520.12	0	0	0	11.38	15.35	30.00
1741.80	21127	146.63	1.21	-80.00	2690.7	2628.7	2752.6	1930.2	2520.2	121.89	15.16	226	1752.64	0.00	0.35	3.53	0.000	0.172	0.093	2691.59	2630.06	2753.12	1889.88	1081.56	0	0	0	30.00	15.37	15.39
1785.29	17542	146.63	1.11	0.00	2689.2	2627.4	2750.9	1889.3	1081.6	115.59	13.90	235	1792.35	0.00	0.00	3.55	0.000	0.000	0.049	2689.22	2627.25	2751.19	1889.81	2563.00	0	0	0	30.00	30.00	15.46
1981.31	20871	146.63	1.02	80.00	2687.7	2624.6	2750.8	1889.8	2563.2	91.27	12.29	255	1988.67	0.00	0.33	3.37	0.000	0.182	0.127	2686.03	2623.50	2748.56	1842.94	3888.75	0	0	0	30.00	15.52	15.52
2021.31	21639	146.63	0.89	0.00	2687.4	2625.2	2749.6	1842.5	3888.8	86.21	12.54	263	2028.38	0.00	0.22	3.15	0.000	0.186	0.028	2687.56	2625.19	2749.94	1810.00	2508.62	0	0	0	30.00	15.53	15.59
2217.30	8226	201.64	0.96	0.00	2686.8	2623.6	2749.9	1810.2	2508.4	71.49	7.45	283	2261.75	41.42	0.00	0.00	0.963	0.000	0.000	2479.22	2409.06	2549.38	1808.88	2508.12	0	0	0	11.48	30.00	30.00
2451.41	10403	235.79	1.02	0.00	2468.8	2395.5	2542.1	1810.2	2507.8	50.19	8.42	307	2482.20	26.93	0.28	0.00	0.917	0.062	0.000	2336.88	2260.06	2413.69	1856.69	2508.19	0	0	0	11.54	15.57	30.00
2666.95	16386	235.79	1.02	0.00	2329.7	2251.1	2408.3	1856.2	2508.2	26.33	10.92	345	2670.93	0.00	0.00	0.00	0.000	0.000	0.000	2329.69	2251.25	2408.12	1856.62	2508.00	0	0	0	30.00	30.00	30.00
2852.06	8226	293.99	1.09	0.00	2328.3	2249.8	2406.9	1856.2	2508.1	8.56	7.30	382	2898.51	43.00	0.00	0.00	0.901	0.000	0.000	2099.31	2015.38	2183.25	1856.25	2507.50	0	0	0	11.41	30.00	30.00
3079.80	10403	515.17	1.47	-80.00	2091.0	2005.1	2176.9	1856.9	2508.1	3.89	-0.24	427	3121.42	38.35	0.64	0.00	0.889	0.050	0.000	1886.84	1799.19	1974.50	1964.94	2507.88	0	0	0	11.50	15.57	30.00
3122	end climb: NO_VERTICAL_VELOCITY
state	3122	begin surface