Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 16 * 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 16 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 2987.8894 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 1795.501 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 17.826824 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.53233 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 8.1620426 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 15.53233 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.1620426 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 17.826824 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 1795.501 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 2987.8894 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 16 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 250522,181833,4736.353,-12256.955,1,1.3,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,182150,4736.387,-12256.936,2,1.4,4,15.5 MHEAD_RNG_PITCHd_Wd 169.8,721,-19.1,-9.697,-22.57,1870,0.137

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S 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 4736.000,-12257.000

Post-dive calculations and measurements:

NET xm1t part outbox0006.n 1110 0 _10V_AH 14.88,0.000

NET_PING 1653505692,25,1801.793945,13.400000,-2.393083 FG_AHR_24Vo 8.317

NAV 1653505639,65.3,0,stop FG_AHR_10Vo 15.558

MODEM_MSG CACST,8,0,20220525190500.944763,18,7602,38,0329,0000,07,01,01,00,02,1,028,121,0,5,1,0,150,13.9,9.39,-100,-6.39,-01,0.02,32,925,0025,0,1,00,00*2A MEM0 60132,1,0,0

FINISH 0.3,1.019819 MEM1 65508,1,0,0

SM_CCo 3845.21,134.78,0.929,0,509.8,523.4,496.1,607.66 MEM2 944532,32,102156,62

SM_GC 1.38,134.78,12.85,0.09,0.929,0.066,0.151,509.8,523.4,496.1,191.3,2115.9,0,0,0,11.87,15.71,15.72 DATA_FILE_SIZE 12942,527

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 357889,0

IRIDIUM_FIX 4738.33,-12256.21,250522,170543 SDSIZE 3887104,3867264

TCM_TEMP 17.87 SDFILEDIR 163,1

SC_FREEKB 3873664 ERRORS 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 4736.600586,-12256.807617,250522,030300,2,510,3251.10 CURRENT 0.025,305.8,1

HUMID 48.89 MAGCAL 1.000000,0.016732,-0.043185,-0.007790,1.073880,-0.029412,0.021809,-0.071129,0.979904,62.7,-923.6,-426.9,36,0.0331,0

TEMP 10.06 IMPLIED_C_PITCH 1796,18.03,254,1795.8,17.93

INTERNAL_PRESSURE 7.97729 IMPLIED_C_VBD 3024,16.870501,254,3005.8

_24V_AH 14.92,9.543 GPS 250522,192709,4736.038,-12257.179,1,1.1,23,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 630 1143 10746.95 nil 0 0 0.00

Pitch_motor 30 254 117.34 nil 0 0 0.00

Roll_motor 64 198 190.60 nil 0 0 0.00

Iridium 127 224 428.63 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 2309 5 175.97 SciCon 3687 6 357.59

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1564 0 7.45

Compass 1072 5 79.78

RAFOS 870 40 518.18

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

6.68 16386 -120.16 -1.22 0.00 495.8 516.1 475.4 193.5 2162.8 0.00 0.00 0 81.57 71.36 0.00 0.00 0.005 0.000 0.000 2508.66 2547.88 2469.44 193.62 2163.56 0 0 0 15.83 30.00 30.00

81.88 18467 -146.63 -1.25 0.00 2507.9 2546.6 2469.1 193.6 2162.6 3.35 -2.96 14 125.49 27.30 10.27 0.00 0.006 0.255 0.000 3583.19 3641.69 3524.69 1491.19 2162.75 0 0 0 15.89 15.72 30.00

308.91 388 -146.63 -1.17 80.00 3585.8 3642.9 3528.8 1491.3 2162.4 26.03 -10.50 59 315.75 0.00 0.00 3.58 0.000 0.000 0.125 3587.00 3644.00 3530.00 1490.94 3617.06 0 0 0 30.00 30.00 15.88

478.18 3205 -146.63 -1.00 0.00 3586.2 3643.1 3529.4 1490.9 3616.2 47.46 -12.18 90 485.21 0.00 0.46 3.48 0.000 0.182 0.054 3586.50 3643.00 3530.00 1553.19 2121.62 0 0 0 30.00 15.87 15.93

668.80 676 -146.63 -1.06 -80.00 3586.9 3644.4 3529.5 1553.2 2121.8 63.63 -7.99 112 676.00 0.00 0.00 3.59 0.000 0.000 0.123 3587.16 3644.69 3529.62 1552.69 683.00 0 0 0 30.00 30.00 15.93

718.78 1060 -146.63 -1.06 0.00 3586.6 3644.1 3529.2 1552.7 682.8 68.18 -9.14 122 726.35 0.00 0.00 3.40 0.000 0.000 0.056 3588.88 3646.00 3531.75 1553.00 2174.31 0 0 0 30.00 30.00 15.96

914.64 4517 -146.63 -1.11 80.00 3587.4 3645.4 3529.4 1552.3 2173.6 83.90 -8.49 142 922.03 0.00 0.26 3.54 0.000 0.077 0.123 3586.34 3644.44 3528.25 1511.44 3620.31 0 0 0 30.00 16.01 15.98

948.94 3205 -146.63 -0.97 0.00 3587.5 3645.5 3529.5 1511.1 3620.6 87.99 -12.11 148 956.87 0.00 0.41 3.48 0.000 0.177 0.053 3587.69 3645.75 3529.62 1559.25 2120.19 0 0 0 30.00 15.96 15.99

1140.85 160 -146.63 -1.04 0.00 3587.6 3645.4 3529.7 1559.4 2120.4 104.72 -8.71 168 1142.45 0.00 0.00 0.00 0.000 0.000 0.000 3586.50 3644.56 3528.44 1559.25 2120.19 0 0 0 30.00 30.00 30.00

1330.88 4517 -146.63 -1.10 80.00 3587.8 3645.6 3529.9 1559.2 2120.4 121.48 -8.82 187 1338.33 0.00 0.28 3.66 0.000 0.077 0.121 3586.66 3645.19 3528.12 1512.75 3616.88 0 0 0 30.00 16.07 16.04

1366.90 3205 -146.63 -0.99 0.00 3587.8 3645.9 3529.7 1512.9 3616.6 125.69 -11.98 194 1374.36 0.00 0.38 3.44 0.000 0.180 0.054 3587.03 3645.06 3529.00 1555.69 2120.75 0 0 0 30.00 16.03 16.07

1562.09 160 -146.63 -1.05 0.00 3587.6 3645.6 3529.6 1555.6 2119.7 143.54 -8.97 214 1571.65 0.00 0.00 0.00 0.000 0.000 0.000 3587.44 3645.44 3529.44 1556.06 2120.19 0 0 0 30.00 30.00 30.00

1750 end dive: TARGET_DEPTH_EXCEEDED

state 1750 begin apogee

1751.23 10243 0.00 -0.28 0.00 3587.7 3646.0 3529.4 1555.6 2178.2 160.11 -8.92 233 1865.59 103.55 1.16 0.10 1.143 0.147 0.199 2986.72 3045.19 2928.25 1727.12 2113.06 0 0 0 12.04 16.05 15.73

1867 end apogee: CONTROL_FINISHED_OK

state 1867 begin climb

1866.89 10243 146.63 1.25 0.00 2984.6 3042.9 2926.2 1728.5 2113.2 163.80 0.00 244 1983.53 105.68 2.56 0.00 1.112 0.118 0.000 2386.41 2456.56 2316.25 2099.12 2113.00 0 0 0 11.98 15.73 30.00

2166.98 4741 146.63 1.15 -80.00 2381.3 2456.4 2306.2 2099.8 2112.8 128.67 14.71 275 2174.60 0.00 0.28 3.63 0.000 0.173 0.129 2380.50 2455.81 2305.19 2066.81 681.69 0 0 0 30.00 15.69 15.70

2257.58 17542 146.63 1.03 0.00 2379.2 2454.7 2303.6 2067.3 681.7 114.58 15.32 291 2265.18 0.00 0.00 3.46 0.000 0.000 0.059 2379.78 2455.25 2304.31 2067.69 2171.31 0 0 0 30.00 30.00 15.79

2453.24 16902 146.63 1.03 -80.00 2379.0 2454.8 2303.2 2066.7 2171.3 90.85 11.80 311 2460.66 0.00 0.00 3.71 0.000 0.000 0.125 2377.03 2452.06 2302.00 2067.50 684.25 0 0 0 30.00 30.00 15.83

2503.56 21639 146.63 0.91 0.00 2378.4 2454.4 2302.3 2067.1 684.3 83.87 14.32 321 2511.35 0.00 0.38 3.43 0.000 0.174 0.059 2380.00 2456.00 2304.00 2010.19 2170.75 0 0 0 30.00 15.82 15.87

2700.82 10919 161.74 1.04 -80.00 2378.2 2454.8 2301.8 2011.0 2171.1 65.33 8.87 341 2722.74 12.31 0.28 3.73 0.900 0.075 0.125 2326.53 2402.94 2250.12 2058.62 683.06 0 0 0 11.95 15.94 15.85

2765.06 1028 161.74 1.04 0.00 2323.8 2399.8 2247.8 2058.3 683.0 57.30 13.36 353 2771.27 0.00 0.00 3.46 0.000 0.000 0.059 2326.41 2402.38 2250.44 2059.06 2171.31 0 0 0 30.00 30.00 15.90

2955.18 516 161.74 1.04 -80.00 2322.7 2399.8 2245.6 2058.8 2171.8 35.55 11.10 385 2962.30 0.00 0.00 3.71 0.000 0.000 0.125 2323.22 2400.81 2245.62 2058.50 684.44 0 0 0 30.00 30.00 15.93

3015.87 5253 161.74 0.98 0.00 2322.1 2399.6 2244.5 2059.1 683.6 28.05 12.82 397 3022.96 0.00 0.26 3.43 0.000 0.170 0.058 2322.81 2400.62 2245.00 2025.56 2170.38 0 0 0 30.00 15.93 15.98

3206.58 10919 204.91 1.17 -80.00 2322.0 2399.9 2244.1 2025.6 2170.8 12.55 7.34 435 3250.75 32.97 0.37 3.70 0.955 0.071 0.123 2150.75 2230.50 2071.00 2086.06 683.06 0 0 0 12.06 16.02 15.88

3269.26 9254 208.32 1.17 0.00 2146.3 2227.4 2065.2 2086.3 683.4 7.02 9.51 447 3281.51 4.55 0.00 3.44 0.511 0.000 0.058 2137.84 2221.12 2054.56 2086.06 2170.50 0 0 0 11.95 30.00 15.93

3465.95 10403 407.94 1.62 0.00 2133.6 2218.6 2048.6 2085.6 2170.9 6.06 -1.22 486 3614.05 137.60 0.64 0.00 0.952 0.067 0.000 1322.22 1402.62 1241.81 2195.62 2170.88 0 0 0 11.99 15.97 30.00

3618 end climb: SURFACE_DEPTH_REACHED

state 3618 begin surface coast

3678 end surface coast: CONTROL_FINISHED_OK

state 3678 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	16	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	2987.8894	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	1795.501	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	17.826824	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.53233	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	8.1620426	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	250522,181833,4736.353,-12256.955,1,1.3,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,182150,4736.387,-12256.936,2,1.4,4,15.5	MHEAD_RNG_PITCHd_Wd	169.8,721,-19.1,-9.697,-22.57,1870,0.137
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	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	4736.000,-12257.000

NET	xm1t part outbox0006.n 1110 0	_10V_AH	14.88,0.000
NET_PING	1653505692,25,1801.793945,13.400000,-2.393083	FG_AHR_24Vo	8.317
NAV	1653505639,65.3,0,stop	FG_AHR_10Vo	15.558
MODEM_MSG	CACST,8,0,20220525190500.944763,18,7602,38,0329,0000,07,01,01,00,02,1,028,121,0,5,1,0,150,13.9,9.39,-100,-6.39,-01,0.02,32,925,0025,0,1,00,00*2A	MEM0	60132,1,0,0
FINISH	0.3,1.019819	MEM1	65508,1,0,0
SM_CCo	3845.21,134.78,0.929,0,509.8,523.4,496.1,607.66	MEM2	944532,32,102156,62
SM_GC	1.38,134.78,12.85,0.09,0.929,0.066,0.151,509.8,523.4,496.1,191.3,2115.9,0,0,0,11.87,15.71,15.72	DATA_FILE_SIZE	12942,527
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	357889,0
IRIDIUM_FIX	4738.33,-12256.21,250522,170543	SDSIZE	3887104,3867264
TCM_TEMP	17.87	SDFILEDIR	163,1
SC_FREEKB	3873664	ERRORS	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	4736.600586,-12256.807617,250522,030300,2,510,3251.10	CURRENT	0.025,305.8,1
HUMID	48.89	MAGCAL	1.000000,0.016732,-0.043185,-0.007790,1.073880,-0.029412,0.021809,-0.071129,0.979904,62.7,-923.6,-426.9,36,0.0331,0
TEMP	10.06	IMPLIED_C_PITCH	1796,18.03,254,1795.8,17.93
INTERNAL_PRESSURE	7.97729	IMPLIED_C_VBD	3024,16.870501,254,3005.8
_24V_AH	14.92,9.543	GPS	250522,192709,4736.038,-12257.179,1,1.1,23,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	630	1143	10746.95	nil	0	0	0.00
Pitch_motor	30	254	117.34	nil	0	0	0.00
Roll_motor	64	198	190.60	nil	0	0	0.00
Iridium	127	224	428.63	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	2309	5	175.97	SciCon	3687	6	357.59
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1564	0	7.45
Compass	1072	5	79.78
RAFOS	870	40	518.18
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
6.68	16386	-120.16	-1.22	0.00	495.8	516.1	475.4	193.5	2162.8	0.00	0.00	0	81.57	71.36	0.00	0.00	0.005	0.000	0.000	2508.66	2547.88	2469.44	193.62	2163.56	0	0	0	15.83	30.00	30.00
81.88	18467	-146.63	-1.25	0.00	2507.9	2546.6	2469.1	193.6	2162.6	3.35	-2.96	14	125.49	27.30	10.27	0.00	0.006	0.255	0.000	3583.19	3641.69	3524.69	1491.19	2162.75	0	0	0	15.89	15.72	30.00
308.91	388	-146.63	-1.17	80.00	3585.8	3642.9	3528.8	1491.3	2162.4	26.03	-10.50	59	315.75	0.00	0.00	3.58	0.000	0.000	0.125	3587.00	3644.00	3530.00	1490.94	3617.06	0	0	0	30.00	30.00	15.88
478.18	3205	-146.63	-1.00	0.00	3586.2	3643.1	3529.4	1490.9	3616.2	47.46	-12.18	90	485.21	0.00	0.46	3.48	0.000	0.182	0.054	3586.50	3643.00	3530.00	1553.19	2121.62	0	0	0	30.00	15.87	15.93
668.80	676	-146.63	-1.06	-80.00	3586.9	3644.4	3529.5	1553.2	2121.8	63.63	-7.99	112	676.00	0.00	0.00	3.59	0.000	0.000	0.123	3587.16	3644.69	3529.62	1552.69	683.00	0	0	0	30.00	30.00	15.93
718.78	1060	-146.63	-1.06	0.00	3586.6	3644.1	3529.2	1552.7	682.8	68.18	-9.14	122	726.35	0.00	0.00	3.40	0.000	0.000	0.056	3588.88	3646.00	3531.75	1553.00	2174.31	0	0	0	30.00	30.00	15.96
914.64	4517	-146.63	-1.11	80.00	3587.4	3645.4	3529.4	1552.3	2173.6	83.90	-8.49	142	922.03	0.00	0.26	3.54	0.000	0.077	0.123	3586.34	3644.44	3528.25	1511.44	3620.31	0	0	0	30.00	16.01	15.98
948.94	3205	-146.63	-0.97	0.00	3587.5	3645.5	3529.5	1511.1	3620.6	87.99	-12.11	148	956.87	0.00	0.41	3.48	0.000	0.177	0.053	3587.69	3645.75	3529.62	1559.25	2120.19	0	0	0	30.00	15.96	15.99
1140.85	160	-146.63	-1.04	0.00	3587.6	3645.4	3529.7	1559.4	2120.4	104.72	-8.71	168	1142.45	0.00	0.00	0.00	0.000	0.000	0.000	3586.50	3644.56	3528.44	1559.25	2120.19	0	0	0	30.00	30.00	30.00
1330.88	4517	-146.63	-1.10	80.00	3587.8	3645.6	3529.9	1559.2	2120.4	121.48	-8.82	187	1338.33	0.00	0.28	3.66	0.000	0.077	0.121	3586.66	3645.19	3528.12	1512.75	3616.88	0	0	0	30.00	16.07	16.04
1366.90	3205	-146.63	-0.99	0.00	3587.8	3645.9	3529.7	1512.9	3616.6	125.69	-11.98	194	1374.36	0.00	0.38	3.44	0.000	0.180	0.054	3587.03	3645.06	3529.00	1555.69	2120.75	0	0	0	30.00	16.03	16.07
1562.09	160	-146.63	-1.05	0.00	3587.6	3645.6	3529.6	1555.6	2119.7	143.54	-8.97	214	1571.65	0.00	0.00	0.00	0.000	0.000	0.000	3587.44	3645.44	3529.44	1556.06	2120.19	0	0	0	30.00	30.00	30.00
1750	end dive: TARGET_DEPTH_EXCEEDED
state	1750	begin apogee
1751.23	10243	0.00	-0.28	0.00	3587.7	3646.0	3529.4	1555.6	2178.2	160.11	-8.92	233	1865.59	103.55	1.16	0.10	1.143	0.147	0.199	2986.72	3045.19	2928.25	1727.12	2113.06	0	0	0	12.04	16.05	15.73
1867	end apogee: CONTROL_FINISHED_OK
state	1867	begin climb
1866.89	10243	146.63	1.25	0.00	2984.6	3042.9	2926.2	1728.5	2113.2	163.80	0.00	244	1983.53	105.68	2.56	0.00	1.112	0.118	0.000	2386.41	2456.56	2316.25	2099.12	2113.00	0	0	0	11.98	15.73	30.00
2166.98	4741	146.63	1.15	-80.00	2381.3	2456.4	2306.2	2099.8	2112.8	128.67	14.71	275	2174.60	0.00	0.28	3.63	0.000	0.173	0.129	2380.50	2455.81	2305.19	2066.81	681.69	0	0	0	30.00	15.69	15.70
2257.58	17542	146.63	1.03	0.00	2379.2	2454.7	2303.6	2067.3	681.7	114.58	15.32	291	2265.18	0.00	0.00	3.46	0.000	0.000	0.059	2379.78	2455.25	2304.31	2067.69	2171.31	0	0	0	30.00	30.00	15.79
2453.24	16902	146.63	1.03	-80.00	2379.0	2454.8	2303.2	2066.7	2171.3	90.85	11.80	311	2460.66	0.00	0.00	3.71	0.000	0.000	0.125	2377.03	2452.06	2302.00	2067.50	684.25	0	0	0	30.00	30.00	15.83
2503.56	21639	146.63	0.91	0.00	2378.4	2454.4	2302.3	2067.1	684.3	83.87	14.32	321	2511.35	0.00	0.38	3.43	0.000	0.174	0.059	2380.00	2456.00	2304.00	2010.19	2170.75	0	0	0	30.00	15.82	15.87
2700.82	10919	161.74	1.04	-80.00	2378.2	2454.8	2301.8	2011.0	2171.1	65.33	8.87	341	2722.74	12.31	0.28	3.73	0.900	0.075	0.125	2326.53	2402.94	2250.12	2058.62	683.06	0	0	0	11.95	15.94	15.85
2765.06	1028	161.74	1.04	0.00	2323.8	2399.8	2247.8	2058.3	683.0	57.30	13.36	353	2771.27	0.00	0.00	3.46	0.000	0.000	0.059	2326.41	2402.38	2250.44	2059.06	2171.31	0	0	0	30.00	30.00	15.90
2955.18	516	161.74	1.04	-80.00	2322.7	2399.8	2245.6	2058.8	2171.8	35.55	11.10	385	2962.30	0.00	0.00	3.71	0.000	0.000	0.125	2323.22	2400.81	2245.62	2058.50	684.44	0	0	0	30.00	30.00	15.93
3015.87	5253	161.74	0.98	0.00	2322.1	2399.6	2244.5	2059.1	683.6	28.05	12.82	397	3022.96	0.00	0.26	3.43	0.000	0.170	0.058	2322.81	2400.62	2245.00	2025.56	2170.38	0	0	0	30.00	15.93	15.98
3206.58	10919	204.91	1.17	-80.00	2322.0	2399.9	2244.1	2025.6	2170.8	12.55	7.34	435	3250.75	32.97	0.37	3.70	0.955	0.071	0.123	2150.75	2230.50	2071.00	2086.06	683.06	0	0	0	12.06	16.02	15.88
3269.26	9254	208.32	1.17	0.00	2146.3	2227.4	2065.2	2086.3	683.4	7.02	9.51	447	3281.51	4.55	0.00	3.44	0.511	0.000	0.058	2137.84	2221.12	2054.56	2086.06	2170.50	0	0	0	11.95	30.00	15.93
3465.95	10403	407.94	1.62	0.00	2133.6	2218.6	2048.6	2085.6	2170.9	6.06	-1.22	486	3614.05	137.60	0.64	0.00	0.952	0.067	0.000	1322.22	1402.62	1241.81	2195.62	2170.88	0	0	0	11.99	15.97	30.00
3618	end climb: SURFACE_DEPTH_REACHED
state	3618	begin surface coast
3678	end surface coast: CONTROL_FINISHED_OK
state	3678	begin surface