Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 699.10498 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

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3350 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 10000 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 210 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3615 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 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.2727524 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 2.3178296 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 2 PRESSURE_YINT -179.55089 SEABIRD_T_J 4.3e-06

MASS 72278 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022626969 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 275 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3885 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 2025 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 2 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 0.2727524 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 2.3178296 PITCH_ADJ_DBAND 2 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 14 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 10000 HD_C 1.6e-05 PITCH_MAX 3615 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 210 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 252 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 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 0.00022626969 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -179.55089 T_NO_W 60

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3350 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 72278 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 3885 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 2 MISSION 3 ROLL_MIN 275 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 190623,183518,4737.035,-12255.915,1,1.1,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190623,183807,4737.049,-12255.889,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 220.4,654,-17.6,-10.000,-21.21,2209,0.138

SPEED_LIMITS 0.173,0.258 D_GRID 165

TGT_NAME N IRON 1.000000,0.038334,-0.018923,-0.049440,1.166098,-0.010501,-0.078735,0.017244,1.118553,-234.082230,-1254.545410,-869.140137

TGT_LATLONG 4736.830,-12256.300 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230619192519.190793,18,32767,45,0101,0113,07,00,00,00,00,1,012,121,0,5,5,0,150,16.1,8.57,-100,-5.57,-01,-0.24,73,10000,5000,0,1,00,00*5C FG_AHR_24Vo 2.565

NAV 1687203012,12.9,0,stop FG_AHR_10Vo 0.293

FREEZE 6.75,14.121,-1.513,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3705.75,311.11,1.164,0,500.8,530.8,470.8,698.91 MEM2 945664,35,100844,68

SM_GC 1.37,0.00,12.20,0.06,0.000,0.065,0.218,498.8,527.9,469.7,196.4,2038.5,0,0,0,30.00,15.62,15.61 DATA_FILE_SIZE 12930,510

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 198469,0

IRIDIUM_FIX 4738.92,-12346.72,190623,183142 SDSIZE 3887104,3873632

TCM_TEMP -86.30 SDFILEDIR 47,3

SC_FREEKB 3878144 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 CURRENT 0.024, 28.4,1

HUMID 52.77 MAGCAL 1.000000,0.018110,-0.014539,-0.047310,0.999944,-0.088919,-0.040294,-0.153509,0.964801,-238.6,-1176.1,-740.8,24,0.0399,0

TEMP 10.98 IMPLIED_C_PITCH 1750,13.22,247,0.0,0.00

INTERNAL_PRESSURE 7.99248 IMPLIED_C_VBD 3299,31.455011,247,0

_24V_AH 14.99,2.690 GPS 190623,194248,4736.868,-12256.313,2,1.3,5,15.4

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 789 1341 15873.12 nil 0 0 0.00

Pitch_motor 25 258 97.39 nil 0 0 0.00

Roll_motor 71 328 353.27 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 3.04 nil 0 0 0.00

Core 2052 5 157.65 SciCon 3363 6 322.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1461 0 7.02

Compass 1064 5 79.86

RAFOS 313 40 188.28

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

6.97 16386 -146.63 -1.44 0.00 496.5 522.6 470.4 211.9 2010.8 0.00 0.00 0 72.78 59.79 0.00 0.00 0.005 0.000 0.000 2186.28 2204.69 2167.88 212.25 2011.25 0 0 0 16.10 30.00 30.00

73.31 18727 -146.63 -1.44 80.00 2186.3 2206.1 2166.5 212.1 2011.1 3.04 -2.90 12 139.39 40.47 7.64 3.62 0.005 0.258 0.154 3949.03 3954.44 3943.62 1252.94 3490.25 0 0 0 16.12 15.94 16.00

143.10 3205 -146.63 -1.23 0.00 3949.7 3955.5 3943.8 1253.1 3489.9 13.16 -13.54 24 152.03 0.00 0.33 3.43 0.000 0.201 0.084 3950.19 3956.38 3944.00 1302.88 2008.56 0 0 0 30.00 15.98 16.03

335.84 388 -146.63 -1.13 80.00 3950.8 3958.1 3943.4 1302.9 2008.4 36.67 -11.25 62 344.40 0.00 0.00 3.65 0.000 0.000 0.148 3950.97 3958.56 3943.38 1302.44 3490.31 0 0 0 30.00 30.00 16.03

368.23 3205 -146.63 -0.99 0.00 3950.9 3958.1 3943.8 1302.9 3489.9 40.86 -12.83 68 377.12 0.00 0.38 3.40 0.000 0.173 0.083 3950.38 3957.75 3943.00 1361.88 2007.75 0 0 0 30.00 16.02 16.07

567.45 420 -146.63 -0.94 80.00 3951.1 3958.7 3943.6 1362.0 2008.2 60.76 -9.65 96 576.16 0.00 0.00 3.65 0.000 0.000 0.150 3951.53 3958.00 3945.06 1361.31 3491.75 0 0 0 30.00 30.00 16.07

695.01 3205 -146.63 -0.86 0.00 3951.3 3958.5 3944.1 1362.0 3491.1 75.74 -11.92 121 703.91 0.00 0.20 3.42 0.000 0.179 0.085 3950.81 3958.31 3943.31 1394.06 2009.19 0 0 0 30.00 16.07 16.10

889.87 260 -146.63 -0.86 80.00 3951.7 3958.9 3944.4 1393.9 2008.9 95.43 -10.18 141 898.82 0.00 0.00 3.64 0.000 0.000 0.153 3951.06 3958.56 3943.56 1394.31 3489.62 0 0 0 30.00 30.00 16.10

961.91 1156 -146.63 -0.82 0.00 3951.4 3959.2 3943.6 1394.0 3488.8 103.24 -10.78 155 969.99 0.00 0.00 3.43 0.000 0.000 0.086 3951.25 3959.62 3942.88 1394.00 2010.69 0 0 0 30.00 30.00 16.12

1152.66 292 -146.63 -0.82 80.00 3951.8 3960.1 3943.5 1394.1 2010.9 121.79 -9.67 175 1161.73 0.00 0.00 3.64 0.000 0.000 0.155 3951.97 3960.38 3943.56 1394.19 3489.06 0 0 0 30.00 30.00 16.11

1220.46 1028 -146.63 -0.82 0.00 3952.0 3960.4 3943.6 1394.4 3489.1 129.23 -11.18 188 1251.86 0.00 0.00 3.42 0.000 0.000 0.088 3951.22 3959.44 3943.00 1394.19 2010.12 0 0 0 30.00 30.00 16.12

1435 end dive: TARGET_DEPTH_EXCEEDED

state 1435 begin apogee

1437.38 10243 0.00 -0.36 0.00 3951.9 3960.1 3943.8 1394.6 2038.6 150.02 -9.38 208 1563.22 112.71 0.77 0.06 1.341 0.133 0.329 3348.06 3392.19 3303.94 1516.31 2013.25 0 0 0 11.60 16.10 15.67

1564 end apogee: CONTROL_FINISHED_OK

state 1564 begin climb

1564.66 10759 146.63 1.44 -80.00 3348.4 3390.6 3306.1 1516.5 2013.5 156.49 0.00 219 1709.53 118.73 2.82 3.91 1.301 0.111 0.196 2749.81 2802.38 2697.25 1950.38 559.69 0 0 0 11.61 15.71 15.44

1832.77 9382 171.57 1.50 0.00 2745.6 2792.2 2699.0 1950.1 559.8 140.80 8.84 268 1866.84 21.65 0.00 3.55 1.224 0.000 0.088 2650.34 2700.38 2600.31 1950.19 2040.25 0 0 0 11.59 30.00 15.76

2050.76 10663 228.55 1.66 80.00 2645.8 2695.8 2595.8 1950.6 2040.6 124.36 7.36 293 2112.86 46.82 0.31 3.68 1.271 0.072 0.163 2416.41 2475.88 2356.94 2015.94 3487.88 0 0 0 11.56 15.89 15.68

2240.40 1156 228.55 1.70 0.00 2413.2 2471.7 2354.8 2016.0 3487.9 103.64 12.09 329 2249.31 0.00 0.00 3.53 0.000 0.000 0.089 2411.56 2470.88 2352.25 2015.94 2012.00 0 0 0 30.00 30.00 15.83

2435.42 388 228.55 1.77 80.00 2411.7 2471.6 2351.7 2015.9 2011.8 83.65 10.21 349 2444.44 0.00 0.00 3.69 0.000 0.000 0.154 2410.69 2470.31 2351.06 2015.06 3490.69 0 0 0 30.00 30.00 15.91

2513.35 1156 228.55 1.81 0.00 2410.9 2470.5 2351.4 2015.5 3489.8 75.02 10.86 364 2522.15 0.00 0.00 3.47 0.000 0.000 0.088 2410.28 2469.75 2350.81 2015.62 2008.56 0 0 0 30.00 30.00 15.95

2708.46 10663 259.81 1.92 80.00 2410.1 2470.0 2350.2 2015.9 2008.3 56.56 8.55 384 2749.97 29.51 0.30 3.70 1.218 0.074 0.155 2291.88 2353.00 2230.75 2076.12 3488.69 0 0 0 11.64 16.04 15.88

2927.23 1028 259.81 1.92 0.00 2285.8 2346.0 2225.6 2075.6 3489.4 30.31 12.20 426 2936.08 0.00 0.00 3.45 0.000 0.000 0.089 2286.72 2347.81 2225.62 2075.81 2008.31 0 0 0 30.00 30.00 15.97

3120.16 8614 272.07 1.99 80.00 2284.7 2345.8 2223.6 2075.9 2008.5 10.62 9.43 463 3144.05 12.31 0.00 3.69 1.108 0.000 0.154 2238.53 2298.81 2178.25 2076.12 3489.62 0 0 0 11.71 30.00 15.95

3163.05 11431 312.79 2.11 0.00 2238.8 2300.2 2177.5 2075.8 3490.1 7.13 8.11 471 3213.93 36.38 0.21 3.45 1.184 0.084 0.084 2073.22 2138.69 2007.75 2124.56 2009.12 0 0 0 11.66 16.02 15.99

3362 end climb: NO_VERTICAL_VELOCITY

state 3362 begin surface

ID	252	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	699.10498	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
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3350	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	10000	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	210	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3615	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	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.2727524	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	2.3178296	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	2	PRESSURE_YINT	-179.55089	SEABIRD_T_J	4.3e-06
MASS	72278	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022626969	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	275	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3885	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	2025	ALTIM_FREQUENCY	13

GPS1	190623,183518,4737.035,-12255.915,1,1.1,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190623,183807,4737.049,-12255.889,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	220.4,654,-17.6,-10.000,-21.21,2209,0.138
SPEED_LIMITS	0.173,0.258	D_GRID	165
TGT_NAME	N	IRON	1.000000,0.038334,-0.018923,-0.049440,1.166098,-0.010501,-0.078735,0.017244,1.118553,-234.082230,-1254.545410,-869.140137
TGT_LATLONG	4736.830,-12256.300	OSC	8000266

NET	CACST,8,0,20230619192519.190793,18,32767,45,0101,0113,07,00,00,00,00,1,012,121,0,5,5,0,150,16.1,8.57,-100,-5.57,-01,-0.24,73,10000,5000,0,1,00,00*5C	FG_AHR_24Vo	2.565
NAV	1687203012,12.9,0,stop	FG_AHR_10Vo	0.293
FREEZE	6.75,14.121,-1.513,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3705.75,311.11,1.164,0,500.8,530.8,470.8,698.91	MEM2	945664,35,100844,68
SM_GC	1.37,0.00,12.20,0.06,0.000,0.065,0.218,498.8,527.9,469.7,196.4,2038.5,0,0,0,30.00,15.62,15.61	DATA_FILE_SIZE	12930,510
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	198469,0
IRIDIUM_FIX	4738.92,-12346.72,190623,183142	SDSIZE	3887104,3873632
TCM_TEMP	-86.30	SDFILEDIR	47,3
SC_FREEKB	3878144	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	CURRENT	0.024, 28.4,1
HUMID	52.77	MAGCAL	1.000000,0.018110,-0.014539,-0.047310,0.999944,-0.088919,-0.040294,-0.153509,0.964801,-238.6,-1176.1,-740.8,24,0.0399,0
TEMP	10.98	IMPLIED_C_PITCH	1750,13.22,247,0.0,0.00
INTERNAL_PRESSURE	7.99248	IMPLIED_C_VBD	3299,31.455011,247,0
_24V_AH	14.99,2.690	GPS	190623,194248,4736.868,-12256.313,2,1.3,5,15.4
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	789	1341	15873.12	nil	0	0	0.00
Pitch_motor	25	258	97.39	nil	0	0	0.00
Roll_motor	71	328	353.27	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	3.04	nil	0	0	0.00
Core	2052	5	157.65	SciCon	3363	6	322.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1461	0	7.02
Compass	1064	5	79.86
RAFOS	313	40	188.28
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
6.97	16386	-146.63	-1.44	0.00	496.5	522.6	470.4	211.9	2010.8	0.00	0.00	0	72.78	59.79	0.00	0.00	0.005	0.000	0.000	2186.28	2204.69	2167.88	212.25	2011.25	0	0	0	16.10	30.00	30.00
73.31	18727	-146.63	-1.44	80.00	2186.3	2206.1	2166.5	212.1	2011.1	3.04	-2.90	12	139.39	40.47	7.64	3.62	0.005	0.258	0.154	3949.03	3954.44	3943.62	1252.94	3490.25	0	0	0	16.12	15.94	16.00
143.10	3205	-146.63	-1.23	0.00	3949.7	3955.5	3943.8	1253.1	3489.9	13.16	-13.54	24	152.03	0.00	0.33	3.43	0.000	0.201	0.084	3950.19	3956.38	3944.00	1302.88	2008.56	0	0	0	30.00	15.98	16.03
335.84	388	-146.63	-1.13	80.00	3950.8	3958.1	3943.4	1302.9	2008.4	36.67	-11.25	62	344.40	0.00	0.00	3.65	0.000	0.000	0.148	3950.97	3958.56	3943.38	1302.44	3490.31	0	0	0	30.00	30.00	16.03
368.23	3205	-146.63	-0.99	0.00	3950.9	3958.1	3943.8	1302.9	3489.9	40.86	-12.83	68	377.12	0.00	0.38	3.40	0.000	0.173	0.083	3950.38	3957.75	3943.00	1361.88	2007.75	0	0	0	30.00	16.02	16.07
567.45	420	-146.63	-0.94	80.00	3951.1	3958.7	3943.6	1362.0	2008.2	60.76	-9.65	96	576.16	0.00	0.00	3.65	0.000	0.000	0.150	3951.53	3958.00	3945.06	1361.31	3491.75	0	0	0	30.00	30.00	16.07
695.01	3205	-146.63	-0.86	0.00	3951.3	3958.5	3944.1	1362.0	3491.1	75.74	-11.92	121	703.91	0.00	0.20	3.42	0.000	0.179	0.085	3950.81	3958.31	3943.31	1394.06	2009.19	0	0	0	30.00	16.07	16.10
889.87	260	-146.63	-0.86	80.00	3951.7	3958.9	3944.4	1393.9	2008.9	95.43	-10.18	141	898.82	0.00	0.00	3.64	0.000	0.000	0.153	3951.06	3958.56	3943.56	1394.31	3489.62	0	0	0	30.00	30.00	16.10
961.91	1156	-146.63	-0.82	0.00	3951.4	3959.2	3943.6	1394.0	3488.8	103.24	-10.78	155	969.99	0.00	0.00	3.43	0.000	0.000	0.086	3951.25	3959.62	3942.88	1394.00	2010.69	0	0	0	30.00	30.00	16.12
1152.66	292	-146.63	-0.82	80.00	3951.8	3960.1	3943.5	1394.1	2010.9	121.79	-9.67	175	1161.73	0.00	0.00	3.64	0.000	0.000	0.155	3951.97	3960.38	3943.56	1394.19	3489.06	0	0	0	30.00	30.00	16.11
1220.46	1028	-146.63	-0.82	0.00	3952.0	3960.4	3943.6	1394.4	3489.1	129.23	-11.18	188	1251.86	0.00	0.00	3.42	0.000	0.000	0.088	3951.22	3959.44	3943.00	1394.19	2010.12	0	0	0	30.00	30.00	16.12
1435	end dive: TARGET_DEPTH_EXCEEDED
state	1435	begin apogee
1437.38	10243	0.00	-0.36	0.00	3951.9	3960.1	3943.8	1394.6	2038.6	150.02	-9.38	208	1563.22	112.71	0.77	0.06	1.341	0.133	0.329	3348.06	3392.19	3303.94	1516.31	2013.25	0	0	0	11.60	16.10	15.67
1564	end apogee: CONTROL_FINISHED_OK
state	1564	begin climb
1564.66	10759	146.63	1.44	-80.00	3348.4	3390.6	3306.1	1516.5	2013.5	156.49	0.00	219	1709.53	118.73	2.82	3.91	1.301	0.111	0.196	2749.81	2802.38	2697.25	1950.38	559.69	0	0	0	11.61	15.71	15.44
1832.77	9382	171.57	1.50	0.00	2745.6	2792.2	2699.0	1950.1	559.8	140.80	8.84	268	1866.84	21.65	0.00	3.55	1.224	0.000	0.088	2650.34	2700.38	2600.31	1950.19	2040.25	0	0	0	11.59	30.00	15.76
2050.76	10663	228.55	1.66	80.00	2645.8	2695.8	2595.8	1950.6	2040.6	124.36	7.36	293	2112.86	46.82	0.31	3.68	1.271	0.072	0.163	2416.41	2475.88	2356.94	2015.94	3487.88	0	0	0	11.56	15.89	15.68
2240.40	1156	228.55	1.70	0.00	2413.2	2471.7	2354.8	2016.0	3487.9	103.64	12.09	329	2249.31	0.00	0.00	3.53	0.000	0.000	0.089	2411.56	2470.88	2352.25	2015.94	2012.00	0	0	0	30.00	30.00	15.83
2435.42	388	228.55	1.77	80.00	2411.7	2471.6	2351.7	2015.9	2011.8	83.65	10.21	349	2444.44	0.00	0.00	3.69	0.000	0.000	0.154	2410.69	2470.31	2351.06	2015.06	3490.69	0	0	0	30.00	30.00	15.91
2513.35	1156	228.55	1.81	0.00	2410.9	2470.5	2351.4	2015.5	3489.8	75.02	10.86	364	2522.15	0.00	0.00	3.47	0.000	0.000	0.088	2410.28	2469.75	2350.81	2015.62	2008.56	0	0	0	30.00	30.00	15.95
2708.46	10663	259.81	1.92	80.00	2410.1	2470.0	2350.2	2015.9	2008.3	56.56	8.55	384	2749.97	29.51	0.30	3.70	1.218	0.074	0.155	2291.88	2353.00	2230.75	2076.12	3488.69	0	0	0	11.64	16.04	15.88
2927.23	1028	259.81	1.92	0.00	2285.8	2346.0	2225.6	2075.6	3489.4	30.31	12.20	426	2936.08	0.00	0.00	3.45	0.000	0.000	0.089	2286.72	2347.81	2225.62	2075.81	2008.31	0	0	0	30.00	30.00	15.97
3120.16	8614	272.07	1.99	80.00	2284.7	2345.8	2223.6	2075.9	2008.5	10.62	9.43	463	3144.05	12.31	0.00	3.69	1.108	0.000	0.154	2238.53	2298.81	2178.25	2076.12	3489.62	0	0	0	11.71	30.00	15.95
3163.05	11431	312.79	2.11	0.00	2238.8	2300.2	2177.5	2075.8	3490.1	7.13	8.11	471	3213.93	36.38	0.21	3.45	1.184	0.084	0.084	2073.22	2138.69	2007.75	2124.56	2009.12	0	0	0	11.66	16.02	15.99
3362	end climb: NO_VERTICAL_VELOCITY
state	3362	begin surface