Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 11 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3024.4128 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1791.9551 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18.10598 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.392789 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.3317871 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.392789 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.3317871 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 18.10598 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1791.9551 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3024.4128 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72626 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 11 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250522,122211,4737.086,-12256.280,1,0.8,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,122514,4737.128,-12256.225,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 205.8,324,-20.7,-9.697,-24.08,1600,0.145

SPEED_LIMITS 0.168,0.255 D_GRID 164

TGT_NAME N IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653484036,68.9,0,stop FG_AHR_24Vo 7.485

MODEM_MSG CACST,8,0,20220525130001.165909,18,32767,33,0151,0000,246,03,03,02,03,1,025,121,0,5,1,0,150,1.4,4.82,-100,-1.82,-01,-0.22,68,925,0025,0,1,00,00*3E FG_AHR_10Vo 15.413

FINISH 1.8,1.020269 MEM0 60132,1,0,0

SM_CCo 3569.35,189.76,0.924,0,546.2,561.9,530.6,607.79 MEM1 65508,1,0,0

SM_GC 1.53,189.76,12.98,0.09,0.924,0.081,0.149,546.2,561.9,530.6,185.7,2118.2,0,0,0,11.89,15.74,15.77 MEM2 944520,33,102148,62

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12933,475

IRIDIUM_FIX 4737.98,-12314.82,250522,111954 CAP_FILE_SIZE 330938,0

TCM_TEMP 17.54 SDSIZE 3887104,3868736

SC_FREEKB 3875264 SDFILEDIR 127,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 SOUNDSPEED 1465.0

HUMID 49.39 CURRENT 0.110, 38.1,1

TEMP 9.83 MAGCAL 1.000000,0.002709,-0.092791,0.007120,1.106057,-0.060670,0.015171,-0.033412,1.091756,117.0,-910.7,-499.6,26,0.0286,0

INTERNAL_PRESSURE 7.97041 IMPLIED_C_PITCH 1784,17.95,246,1788.1,18.03

_24V_AH 14.89,8.608 IMPLIED_C_VBD 3027,17.358849,246,3025.5

_10V_AH 14.87,0.000 GPS 250522,132538,4737.045,-12256.475,1,1.4,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 622 1138 10554.53 nil 0 0 0.00

Pitch_motor 30 258 119.05 nil 0 0 0.00

Roll_motor 64 217 207.05 nil 0 0 0.00

Iridium 116 199 345.49 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2095 5 159.55 SciCon 3352 6 323.89

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1432 0 6.81

Compass 974 5 72.42

RAFOS 493 40 293.36

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

6.64 16386 -102.57 -1.27 0.00 495.8 514.8 476.7 194.2 2168.0 0.00 0.00 0 81.53 71.33 0.00 0.00 0.005 0.000 0.000 2524.47 2561.62 2487.31 194.12 2168.06 0 0 0 15.84 30.00 30.00

81.83 18727 -146.63 -1.33 80.00 2522.9 2560.5 2485.3 194.1 2167.9 3.40 -2.91 14 131.95 26.58 10.02 3.57 0.006 0.259 0.125 3622.16 3677.00 3567.31 1467.62 3619.56 0 0 0 15.89 15.73 15.80

135.42 3205 -146.63 -1.05 0.00 3621.4 3674.6 3568.2 1468.8 3619.3 10.14 -11.55 24 148.61 0.00 0.49 3.46 0.000 0.185 0.055 3621.94 3676.25 3567.62 1536.88 2120.88 0 0 0 30.00 15.79 15.85

331.12 420 -146.63 -1.13 80.00 3622.9 3676.6 3569.2 1537.2 2121.9 28.96 -9.25 62 337.84 0.00 0.00 3.68 0.000 0.000 0.121 3623.84 3677.31 3570.38 1537.19 3615.94 0 0 0 30.00 30.00 15.89

381.22 1028 -146.63 -1.13 0.00 3623.0 3676.8 3569.2 1537.3 3615.2 34.02 -10.36 72 387.97 0.00 0.00 3.45 0.000 0.000 0.054 3623.00 3677.25 3568.75 1537.31 2121.31 0 0 0 30.00 30.00 15.93

571.61 4517 -146.63 -1.21 80.00 3623.1 3676.7 3569.4 1537.0 2121.3 51.31 -8.91 109 579.07 0.00 0.35 3.65 0.000 0.070 0.120 3623.75 3678.06 3569.44 1479.94 3616.62 0 0 0 30.00 15.98 15.95

597.65 3205 -146.63 -1.14 0.00 3623.6 3677.4 3569.8 1480.6 3616.8 54.37 -10.55 114 605.04 0.00 0.29 3.42 0.000 0.192 0.055 3622.62 3676.44 3568.81 1514.06 2123.06 0 0 0 30.00 15.92 15.99

792.65 128 -146.63 -1.17 0.00 3624.1 3677.2 3570.9 1514.0 2122.7 75.12 -10.40 134 794.26 0.00 0.00 0.00 0.000 0.000 0.000 3622.59 3676.19 3569.00 1513.69 2122.50 0 0 0 30.00 30.00 30.00

976.66 388 -146.63 -1.20 80.00 3624.0 3677.6 3570.4 1513.8 2123.1 94.31 -10.21 153 983.93 0.00 0.00 3.62 0.000 0.000 0.120 3623.00 3676.38 3569.62 1512.75 3615.56 0 0 0 30.00 30.00 16.02

1036.77 1156 -146.63 -1.16 0.00 3623.7 3676.8 3570.5 1513.7 3615.8 101.61 -12.34 165 1044.36 0.00 0.00 3.41 0.000 0.000 0.055 3624.44 3677.56 3571.31 1513.31 2121.56 0 0 0 30.00 30.00 16.06

1232.53 128 -146.63 -1.19 0.00 3623.6 3676.8 3570.4 1513.6 2121.4 122.11 -10.68 185 1234.14 0.00 0.00 0.00 0.000 0.000 0.000 3623.53 3677.38 3569.69 1513.69 2121.62 0 0 0 30.00 30.00 30.00

1422.55 388 -146.63 -1.23 80.00 3624.0 3676.8 3571.3 1513.5 2121.6 142.80 -10.84 204 1429.86 0.00 0.00 3.63 0.000 0.000 0.122 3622.50 3676.12 3568.88 1513.12 3616.12 0 0 0 30.00 30.00 16.05

1452.59 1028 -146.63 -1.23 0.00 3624.0 3676.6 3571.4 1513.7 3616.3 146.60 -12.32 210 1460.22 0.00 0.00 3.39 0.000 0.000 0.056 3624.78 3677.75 3571.81 1513.44 2123.00 0 0 0 30.00 30.00 16.10

1578 end dive: TARGET_DEPTH_EXCEEDED

state 1578 begin apogee

1579.71 10243 0.00 -0.28 0.00 3624.1 3676.9 3571.2 1513.8 2175.2 160.24 -10.75 223 1694.20 102.74 1.45 0.09 1.138 0.159 0.217 3022.75 3079.19 2966.31 1725.06 2118.44 0 0 0 11.99 16.06 15.73

1695 end apogee: CONTROL_FINISHED_OK

state 1695 begin climb

1695.38 10243 146.63 1.33 0.00 3021.5 3078.0 2964.9 1725.0 2117.8 164.11 0.00 234 1811.81 105.13 2.66 0.00 1.100 0.118 0.000 2427.47 2495.69 2359.25 2113.25 2117.38 0 0 0 11.93 15.74 30.00

1995.35 644 146.63 1.24 -80.00 2419.3 2491.0 2347.6 2113.0 2117.8 128.74 14.54 264 2012.17 0.00 0.00 3.60 0.000 0.000 0.130 2418.56 2490.06 2347.06 2112.25 682.94 0 0 0 30.00 30.00 15.71

2070.02 21639 146.63 1.02 0.00 2417.1 2488.9 2345.3 2112.6 683.1 115.46 18.56 277 2078.08 0.00 0.63 3.43 0.000 0.168 0.060 2420.22 2492.19 2348.25 2030.56 2168.31 0 0 0 30.00 15.75 15.77

2265.78 19079 146.63 1.12 -80.00 2416.8 2489.2 2344.4 2030.6 2167.4 93.54 10.32 297 2273.34 0.00 0.23 3.71 0.000 0.076 0.127 2415.00 2487.75 2342.25 2074.88 683.00 0 0 0 30.00 15.88 15.82

2306.20 21639 146.63 1.01 0.00 2416.8 2489.3 2344.3 2075.1 683.1 87.85 14.65 305 2314.07 0.00 0.34 3.40 0.000 0.162 0.059 2416.53 2488.81 2344.25 2028.38 2170.25 0 0 0 30.00 15.83 15.87

2501.94 18563 146.63 1.12 0.00 2416.6 2488.9 2344.3 2029.2 2170.8 67.94 9.70 325 2503.81 0.00 0.25 0.00 0.000 0.076 0.000 2414.75 2487.12 2342.38 2074.19 2170.56 0 0 0 30.00 15.94 30.00

2685.88 16902 146.63 1.12 -80.00 2416.5 2488.9 2344.2 2073.8 2170.2 46.87 11.18 346 2692.94 0.00 0.00 3.69 0.000 0.000 0.127 2416.69 2489.50 2343.88 2073.75 682.25 0 0 0 30.00 30.00 15.94

2746.51 21639 146.63 1.03 0.00 2416.1 2489.1 2343.1 2073.9 682.0 38.69 13.95 358 2753.60 0.00 0.31 3.38 0.000 0.162 0.060 2418.47 2489.81 2347.12 2032.62 2170.19 0 0 0 30.00 15.94 15.99

2937.25 10403 172.96 1.18 0.00 2415.6 2488.6 2342.6 2032.4 2169.9 20.86 8.01 396 2963.56 20.06 0.32 0.00 0.936 0.071 0.000 2317.78 2391.50 2244.06 2089.25 2170.25 0 0 0 11.95 16.02 30.00

3145.75 10919 265.64 1.43 -80.00 2314.1 2390.9 2237.4 2089.0 2170.9 5.06 3.77 437 3226.06 66.18 0.31 3.73 0.951 0.077 0.125 1940.38 2027.50 1853.25 2146.56 684.19 0 0 0 11.96 15.98 15.78

3289.68 11431 395.81 1.66 0.00 1933.8 2022.8 1844.8 2147.0 684.0 2.95 1.37 465 3339.13 40.97 0.27 3.42 0.916 0.077 0.055 1706.81 1794.00 1619.62 2204.12 2174.88 0 0 0 11.90 15.85 15.87

3340 end climb: SURFACE_DEPTH_REACHED

state 3340 begin surface coast

3343 end surface coast: CONTROL_FINISHED_OK

state 3343 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	11	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3024.4128	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1791.9551	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18.10598	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.392789	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.3317871	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	250522,122211,4737.086,-12256.280,1,0.8,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,122514,4737.128,-12256.225,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	205.8,324,-20.7,-9.697,-24.08,1600,0.145
SPEED_LIMITS	0.168,0.255	D_GRID	164
TGT_NAME	N	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4737.000,-12256.400

NAV	1653484036,68.9,0,stop	FG_AHR_24Vo	7.485
MODEM_MSG	CACST,8,0,20220525130001.165909,18,32767,33,0151,0000,246,03,03,02,03,1,025,121,0,5,1,0,150,1.4,4.82,-100,-1.82,-01,-0.22,68,925,0025,0,1,00,00*3E	FG_AHR_10Vo	15.413
FINISH	1.8,1.020269	MEM0	60132,1,0,0
SM_CCo	3569.35,189.76,0.924,0,546.2,561.9,530.6,607.79	MEM1	65508,1,0,0
SM_GC	1.53,189.76,12.98,0.09,0.924,0.081,0.149,546.2,561.9,530.6,185.7,2118.2,0,0,0,11.89,15.74,15.77	MEM2	944520,33,102148,62
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12933,475
IRIDIUM_FIX	4737.98,-12314.82,250522,111954	CAP_FILE_SIZE	330938,0
TCM_TEMP	17.54	SDSIZE	3887104,3868736
SC_FREEKB	3875264	SDFILEDIR	127,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	SOUNDSPEED	1465.0
HUMID	49.39	CURRENT	0.110, 38.1,1
TEMP	9.83	MAGCAL	1.000000,0.002709,-0.092791,0.007120,1.106057,-0.060670,0.015171,-0.033412,1.091756,117.0,-910.7,-499.6,26,0.0286,0
INTERNAL_PRESSURE	7.97041	IMPLIED_C_PITCH	1784,17.95,246,1788.1,18.03
_24V_AH	14.89,8.608	IMPLIED_C_VBD	3027,17.358849,246,3025.5
_10V_AH	14.87,0.000	GPS	250522,132538,4737.045,-12256.475,1,1.4,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	622	1138	10554.53	nil	0	0	0.00
Pitch_motor	30	258	119.05	nil	0	0	0.00
Roll_motor	64	217	207.05	nil	0	0	0.00
Iridium	116	199	345.49	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2095	5	159.55	SciCon	3352	6	323.89
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1432	0	6.81
Compass	974	5	72.42
RAFOS	493	40	293.36
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
6.64	16386	-102.57	-1.27	0.00	495.8	514.8	476.7	194.2	2168.0	0.00	0.00	0	81.53	71.33	0.00	0.00	0.005	0.000	0.000	2524.47	2561.62	2487.31	194.12	2168.06	0	0	0	15.84	30.00	30.00
81.83	18727	-146.63	-1.33	80.00	2522.9	2560.5	2485.3	194.1	2167.9	3.40	-2.91	14	131.95	26.58	10.02	3.57	0.006	0.259	0.125	3622.16	3677.00	3567.31	1467.62	3619.56	0	0	0	15.89	15.73	15.80
135.42	3205	-146.63	-1.05	0.00	3621.4	3674.6	3568.2	1468.8	3619.3	10.14	-11.55	24	148.61	0.00	0.49	3.46	0.000	0.185	0.055	3621.94	3676.25	3567.62	1536.88	2120.88	0	0	0	30.00	15.79	15.85
331.12	420	-146.63	-1.13	80.00	3622.9	3676.6	3569.2	1537.2	2121.9	28.96	-9.25	62	337.84	0.00	0.00	3.68	0.000	0.000	0.121	3623.84	3677.31	3570.38	1537.19	3615.94	0	0	0	30.00	30.00	15.89
381.22	1028	-146.63	-1.13	0.00	3623.0	3676.8	3569.2	1537.3	3615.2	34.02	-10.36	72	387.97	0.00	0.00	3.45	0.000	0.000	0.054	3623.00	3677.25	3568.75	1537.31	2121.31	0	0	0	30.00	30.00	15.93
571.61	4517	-146.63	-1.21	80.00	3623.1	3676.7	3569.4	1537.0	2121.3	51.31	-8.91	109	579.07	0.00	0.35	3.65	0.000	0.070	0.120	3623.75	3678.06	3569.44	1479.94	3616.62	0	0	0	30.00	15.98	15.95
597.65	3205	-146.63	-1.14	0.00	3623.6	3677.4	3569.8	1480.6	3616.8	54.37	-10.55	114	605.04	0.00	0.29	3.42	0.000	0.192	0.055	3622.62	3676.44	3568.81	1514.06	2123.06	0	0	0	30.00	15.92	15.99
792.65	128	-146.63	-1.17	0.00	3624.1	3677.2	3570.9	1514.0	2122.7	75.12	-10.40	134	794.26	0.00	0.00	0.00	0.000	0.000	0.000	3622.59	3676.19	3569.00	1513.69	2122.50	0	0	0	30.00	30.00	30.00
976.66	388	-146.63	-1.20	80.00	3624.0	3677.6	3570.4	1513.8	2123.1	94.31	-10.21	153	983.93	0.00	0.00	3.62	0.000	0.000	0.120	3623.00	3676.38	3569.62	1512.75	3615.56	0	0	0	30.00	30.00	16.02
1036.77	1156	-146.63	-1.16	0.00	3623.7	3676.8	3570.5	1513.7	3615.8	101.61	-12.34	165	1044.36	0.00	0.00	3.41	0.000	0.000	0.055	3624.44	3677.56	3571.31	1513.31	2121.56	0	0	0	30.00	30.00	16.06
1232.53	128	-146.63	-1.19	0.00	3623.6	3676.8	3570.4	1513.6	2121.4	122.11	-10.68	185	1234.14	0.00	0.00	0.00	0.000	0.000	0.000	3623.53	3677.38	3569.69	1513.69	2121.62	0	0	0	30.00	30.00	30.00
1422.55	388	-146.63	-1.23	80.00	3624.0	3676.8	3571.3	1513.5	2121.6	142.80	-10.84	204	1429.86	0.00	0.00	3.63	0.000	0.000	0.122	3622.50	3676.12	3568.88	1513.12	3616.12	0	0	0	30.00	30.00	16.05
1452.59	1028	-146.63	-1.23	0.00	3624.0	3676.6	3571.4	1513.7	3616.3	146.60	-12.32	210	1460.22	0.00	0.00	3.39	0.000	0.000	0.056	3624.78	3677.75	3571.81	1513.44	2123.00	0	0	0	30.00	30.00	16.10
1578	end dive: TARGET_DEPTH_EXCEEDED
state	1578	begin apogee
1579.71	10243	0.00	-0.28	0.00	3624.1	3676.9	3571.2	1513.8	2175.2	160.24	-10.75	223	1694.20	102.74	1.45	0.09	1.138	0.159	0.217	3022.75	3079.19	2966.31	1725.06	2118.44	0	0	0	11.99	16.06	15.73
1695	end apogee: CONTROL_FINISHED_OK
state	1695	begin climb
1695.38	10243	146.63	1.33	0.00	3021.5	3078.0	2964.9	1725.0	2117.8	164.11	0.00	234	1811.81	105.13	2.66	0.00	1.100	0.118	0.000	2427.47	2495.69	2359.25	2113.25	2117.38	0	0	0	11.93	15.74	30.00
1995.35	644	146.63	1.24	-80.00	2419.3	2491.0	2347.6	2113.0	2117.8	128.74	14.54	264	2012.17	0.00	0.00	3.60	0.000	0.000	0.130	2418.56	2490.06	2347.06	2112.25	682.94	0	0	0	30.00	30.00	15.71
2070.02	21639	146.63	1.02	0.00	2417.1	2488.9	2345.3	2112.6	683.1	115.46	18.56	277	2078.08	0.00	0.63	3.43	0.000	0.168	0.060	2420.22	2492.19	2348.25	2030.56	2168.31	0	0	0	30.00	15.75	15.77
2265.78	19079	146.63	1.12	-80.00	2416.8	2489.2	2344.4	2030.6	2167.4	93.54	10.32	297	2273.34	0.00	0.23	3.71	0.000	0.076	0.127	2415.00	2487.75	2342.25	2074.88	683.00	0	0	0	30.00	15.88	15.82
2306.20	21639	146.63	1.01	0.00	2416.8	2489.3	2344.3	2075.1	683.1	87.85	14.65	305	2314.07	0.00	0.34	3.40	0.000	0.162	0.059	2416.53	2488.81	2344.25	2028.38	2170.25	0	0	0	30.00	15.83	15.87
2501.94	18563	146.63	1.12	0.00	2416.6	2488.9	2344.3	2029.2	2170.8	67.94	9.70	325	2503.81	0.00	0.25	0.00	0.000	0.076	0.000	2414.75	2487.12	2342.38	2074.19	2170.56	0	0	0	30.00	15.94	30.00
2685.88	16902	146.63	1.12	-80.00	2416.5	2488.9	2344.2	2073.8	2170.2	46.87	11.18	346	2692.94	0.00	0.00	3.69	0.000	0.000	0.127	2416.69	2489.50	2343.88	2073.75	682.25	0	0	0	30.00	30.00	15.94
2746.51	21639	146.63	1.03	0.00	2416.1	2489.1	2343.1	2073.9	682.0	38.69	13.95	358	2753.60	0.00	0.31	3.38	0.000	0.162	0.060	2418.47	2489.81	2347.12	2032.62	2170.19	0	0	0	30.00	15.94	15.99
2937.25	10403	172.96	1.18	0.00	2415.6	2488.6	2342.6	2032.4	2169.9	20.86	8.01	396	2963.56	20.06	0.32	0.00	0.936	0.071	0.000	2317.78	2391.50	2244.06	2089.25	2170.25	0	0	0	11.95	16.02	30.00
3145.75	10919	265.64	1.43	-80.00	2314.1	2390.9	2237.4	2089.0	2170.9	5.06	3.77	437	3226.06	66.18	0.31	3.73	0.951	0.077	0.125	1940.38	2027.50	1853.25	2146.56	684.19	0	0	0	11.96	15.98	15.78
3289.68	11431	395.81	1.66	0.00	1933.8	2022.8	1844.8	2147.0	684.0	2.95	1.37	465	3339.13	40.97	0.27	3.42	0.916	0.077	0.055	1706.81	1794.00	1619.62	2204.12	2174.88	0	0	0	11.90	15.85	15.87
3340	end climb: SURFACE_DEPTH_REACHED
state	3340	begin surface coast
3343	end surface coast: CONTROL_FINISHED_OK
state	3343	begin surface