Glider dive log

HoodCanal 22May22 * SG241 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 603.25 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 -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 15 C_VBD 3000.0525 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 70 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 69

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 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1728.9792 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 19.006668 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.86862 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 25.186579 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 -188.63794 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 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 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 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 2 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 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 18.86862 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 25.186579 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 19.006668 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 3628 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1728.9792 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 70

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -188.63794 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

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 3000.0525 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 72520 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 3 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 2 MISSION 5 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 170 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 220522,164007,4736.537,-12256.740,1,1.2,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,164301,4736.530,-12256.725,3,0.9,34,15.5 MHEAD_RNG_PITCHd_Wd 182.7,1041,-17.1,-9.697,-20.82,2278,0.112

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.027433,-0.072257,-0.007312,1.051031,0.004628,0.076369,-0.062763,1.007613,515.668152,-1316.745361,-221.303223

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220522173211.973452,06,1451,25,0163,0150,74,01,01,01,01,1,045,121,3,5,7,6,150,1.0,6.18,-100,-3.18,-01,-0.44,54,10000,5000,0,5,01,01*59 FG_AHR_24Vo 25.354

NET_PING 1653240731,1,1140.121460,8.700000,-23.337732 FG_AHR_10Vo 18.890

NAV 1653239414,160.2,0,stop MEM0 60148,1,0,0

FINISH 0.7,1.019839 MEM1 65508,1,0,0

SM_CCo 3844.36,211.18,0.910,0,541.1,615.4,466.8,603.16 MEM2 944520,29,102168,65

SM_GC 1.68,211.18,11.56,3.39,0.910,0.085,0.048,541.1,615.4,466.8,194.9,2111.8,0,0,0,11.70,15.85,15.88 DATA_FILE_SIZE 12931,510

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 331696,0

IRIDIUM_FIX 4736.87,-12256.21,220522,163902 SDSIZE 3887104,3873088

TCM_TEMP 12.69 SDFILEDIR 54,1

SC_FREEKB 3878144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -2 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.024, 91.5,1

HUMID 48.33 MAGCAL 1.000000,0.008958,-0.005570,0.001689,1.066388,-0.026722,0.026495,-0.045673,1.008484,463.4,-1296.6,-227.1,24,0.0264,1

TEMP 9.93 IMPLIED_C_PITCH 1750,18.25,274,1739.3,18.63

INTERNAL_PRESSURE 8.07582 IMPLIED_C_VBD 2903,21.394846,274,2951.3

_24V_AH 14.82,5.145 GPS 220522,174756,4736.146,-12256.799,1,1.6,4,15.5

_10V_AH 14.83,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 693 1115 11470.96 nil 0 0 0.00

Pitch_motor 27 301 124.11 nil 0 0 0.00

Roll_motor 77 196 226.20 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 43 15 9.59 nil 0 0 0.00

Core 2092 5 158.90 SciCon 3597 6 366.58

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1586 0 7.53

Compass 1025 5 76.06

RAFOS 367 40 218.02

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

6.67 16386 -146.63 -1.08 0.00 536.3 610.8 461.9 197.1 2109.7 0.00 0.00 0 118.66 106.28 0.00 0.00 0.005 0.000 0.000 2845.84 2812.69 2879.00 197.50 2110.25 0 0 0 15.78 30.00 30.00

119.02 18983 -146.63 -1.08 -80.00 2844.8 2812.2 2877.4 197.4 2110.1 3.22 -3.42 21 166.10 22.17 10.61 3.53 0.006 0.301 0.113 3597.66 3587.44 3607.88 1464.81 681.94 0 0 0 15.88 15.70 15.80

394.52 3205 -146.63 -0.88 0.00 3598.8 3594.8 3602.8 1464.8 682.1 44.10 -12.91 75 401.48 0.00 0.35 3.45 0.000 0.196 0.050 3598.91 3595.25 3602.56 1514.56 2174.94 0 0 0 30.00 15.85 15.93

589.81 32 -146.63 -0.88 0.00 3599.3 3597.4 3601.3 1514.2 2174.9 62.28 -9.08 101 591.38 0.00 0.00 0.00 0.000 0.000 0.000 3599.47 3597.31 3601.62 1514.50 2174.69 0 0 0 30.00 30.00 30.00

779.82 292 -146.63 -0.88 80.00 3599.3 3597.1 3601.4 1514.3 2174.2 80.08 -9.53 120 785.87 0.00 0.00 3.53 0.000 0.000 0.113 3599.59 3597.44 3601.75 1514.44 3619.31 0 0 0 30.00 30.00 15.98

839.87 1156 -146.63 -0.82 0.00 3599.1 3597.1 3601.1 1514.3 3618.8 86.71 -11.26 132 845.83 0.00 0.00 3.41 0.000 0.000 0.051 3599.91 3597.62 3602.19 1514.38 2117.19 0 0 0 30.00 30.00 16.02

1031.01 292 -146.63 -0.82 80.00 3599.8 3597.8 3601.9 1514.2 2116.6 105.31 -9.23 150 1038.14 0.00 0.00 3.65 0.000 0.000 0.110 3601.38 3598.44 3604.31 1514.88 3620.88 0 0 0 30.00 30.00 15.99

1086.54 3205 -146.63 -0.78 0.00 3599.5 3597.6 3601.4 1514.2 3620.2 111.18 -10.83 161 1093.68 0.00 0.17 3.41 0.000 0.184 0.051 3601.28 3599.00 3603.56 1540.38 2116.88 0 0 0 30.00 15.97 16.01

1281.61 420 -146.63 -0.86 80.00 3599.5 3597.5 3601.6 1540.1 2116.1 127.35 -8.02 181 1288.63 0.00 0.00 3.66 0.000 0.000 0.112 3599.94 3597.94 3601.94 1540.88 3617.44 0 0 0 30.00 30.00 15.99

1361.35 5285 -146.63 -0.90 0.00 3599.7 3597.9 3601.4 1540.4 3617.4 134.62 -9.09 197 1368.87 0.00 0.28 3.39 0.000 0.091 0.051 3599.97 3598.19 3601.75 1497.50 2116.69 0 0 0 30.00 16.03 16.04

1557.03 260 -146.63 -0.90 80.00 3599.7 3597.8 3601.6 1497.1 2116.7 154.18 -10.05 217 1564.14 0.00 0.00 3.64 0.000 0.000 0.110 3599.16 3597.25 3601.06 1497.19 3615.88 0 0 0 30.00 30.00 16.03

1609 end dive: TARGET_DEPTH_EXCEEDED

state 1609 begin apogee

1614.93 10243 0.00 -0.26 0.00 3599.7 3597.9 3601.4 1497.4 2118.6 160.20 -12.26 227 1735.51 112.71 1.25 0.09 1.116 0.169 0.196 2997.56 3050.88 2944.25 1665.31 2180.31 0 0 0 11.72 16.02 15.65

1736 end apogee: CONTROL_FINISHED_OK

state 1736 begin climb

1736.57 10759 146.63 1.08 -80.00 2998.6 3051.5 2945.6 1664.9 2180.6 165.86 0.00 239 1870.35 115.85 2.27 3.76 1.072 0.125 0.114 2401.84 2470.81 2332.88 1991.12 681.00 0 0 0 11.65 15.65 15.45

1883.02 5253 146.63 0.97 0.00 2399.8 2467.2 2332.4 1991.1 681.2 156.73 9.98 266 1890.74 0.00 0.31 3.55 0.000 0.190 0.050 2400.03 2467.38 2332.69 1957.62 2174.62 0 0 0 30.00 15.47 15.54

2078.71 8486 168.54 1.00 80.00 2395.4 2459.9 2331.0 1957.4 2174.6 139.77 8.71 286 2105.82 18.76 0.00 3.61 0.985 0.000 0.117 2311.72 2381.81 2241.62 1957.38 3616.38 0 0 0 11.66 30.00 15.67

2139.22 1156 168.54 0.96 0.00 2310.0 2378.9 2241.1 1956.8 3615.9 133.90 10.34 298 2145.18 0.00 0.00 3.46 0.000 0.000 0.050 2308.75 2377.50 2240.00 1957.25 2121.00 0 0 0 30.00 30.00 15.74

2333.21 8354 180.01 1.01 0.00 2309.0 2376.6 2241.4 1956.8 2120.6 115.94 9.18 319 2353.69 11.27 0.00 0.00 0.902 0.000 0.000 2265.38 2335.25 2195.50 1957.06 2119.38 0 0 0 11.74 30.00 30.00

2543.29 10663 197.49 1.09 80.00 2263.8 2332.1 2195.4 1956.8 2120.4 96.96 8.91 340 2567.22 15.92 0.26 3.71 0.949 0.089 0.115 2196.28 2269.62 2122.94 1999.81 3616.06 0 0 0 11.73 15.88 15.83

2610.62 5253 197.49 0.97 0.00 2192.1 2264.1 2120.1 1999.3 3616.5 88.78 13.32 353 2617.90 0.00 0.34 3.43 0.000 0.180 0.051 2193.44 2264.44 2122.44 1955.31 2120.62 0 0 0 30.00 15.80 15.88

2803.70 10403 213.51 1.06 0.00 2191.9 2263.6 2120.2 1955.5 2120.8 70.75 8.98 373 2820.60 14.44 0.23 0.00 0.924 0.095 0.000 2129.34 2205.25 2053.44 1993.25 2119.69 0 0 0 11.77 15.93 30.00

3003.88 260 213.51 1.06 80.00 2127.1 2201.5 2052.7 1993.3 2119.9 49.38 11.09 393 3010.74 0.00 0.00 3.70 0.000 0.000 0.114 2126.75 2201.12 2052.38 1993.00 3616.56 0 0 0 30.00 30.00 15.92

3039.14 1156 213.51 1.00 0.00 2125.7 2199.2 2052.2 1993.2 3616.7 45.04 12.54 400 3045.82 0.00 0.00 3.42 0.000 0.000 0.051 2127.78 2201.00 2054.56 1993.38 2118.75 0 0 0 30.00 30.00 15.96

3229.10 516 213.51 1.00 -80.00 2125.7 2199.2 2052.1 1993.3 2118.2 24.85 9.99 438 3235.96 0.00 0.00 3.51 0.000 0.000 0.116 2125.84 2199.25 2052.44 1993.44 680.56 0 0 0 30.00 30.00 15.97

3264.26 1028 213.51 1.00 0.00 2125.7 2198.9 2052.6 1993.1 680.4 20.71 11.97 445 3271.04 0.00 0.00 3.44 0.000 0.000 0.052 2125.72 2199.06 2052.38 1993.50 2173.38 0 0 0 30.00 30.00 16.01

3453.47 10663 299.99 1.21 80.00 2125.3 2198.4 2052.2 1992.9 2173.4 6.48 5.81 483 3531.91 65.04 0.17 3.57 0.945 0.103 0.117 1777.25 1880.12 1674.38 2030.19 3615.00 0 0 0 11.73 16.02 15.80

3545 end climb: SURFACE_DEPTH_REACHED

state 3545 begin surface coast

3595 end surface coast: CONTROL_FINISHED_OK

state 3595 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	603.25	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	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	15	C_VBD	3000.0525	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	70	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	69
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	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1728.9792	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	19.006668	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.86862	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	25.186579	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	-188.63794	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	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	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	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	220522,164007,4736.537,-12256.740,1,1.2,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,164301,4736.530,-12256.725,3,0.9,34,15.5	MHEAD_RNG_PITCHd_Wd	182.7,1041,-17.1,-9.697,-20.82,2278,0.112
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.027433,-0.072257,-0.007312,1.051031,0.004628,0.076369,-0.062763,1.007613,515.668152,-1316.745361,-221.303223
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220522173211.973452,06,1451,25,0163,0150,74,01,01,01,01,1,045,121,3,5,7,6,150,1.0,6.18,-100,-3.18,-01,-0.44,54,10000,5000,0,5,01,01*59	FG_AHR_24Vo	25.354
NET_PING	1653240731,1,1140.121460,8.700000,-23.337732	FG_AHR_10Vo	18.890
NAV	1653239414,160.2,0,stop	MEM0	60148,1,0,0
FINISH	0.7,1.019839	MEM1	65508,1,0,0
SM_CCo	3844.36,211.18,0.910,0,541.1,615.4,466.8,603.16	MEM2	944520,29,102168,65
SM_GC	1.68,211.18,11.56,3.39,0.910,0.085,0.048,541.1,615.4,466.8,194.9,2111.8,0,0,0,11.70,15.85,15.88	DATA_FILE_SIZE	12931,510
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	331696,0
IRIDIUM_FIX	4736.87,-12256.21,220522,163902	SDSIZE	3887104,3873088
TCM_TEMP	12.69	SDFILEDIR	54,1
SC_FREEKB	3878144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-2	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.024, 91.5,1
HUMID	48.33	MAGCAL	1.000000,0.008958,-0.005570,0.001689,1.066388,-0.026722,0.026495,-0.045673,1.008484,463.4,-1296.6,-227.1,24,0.0264,1
TEMP	9.93	IMPLIED_C_PITCH	1750,18.25,274,1739.3,18.63
INTERNAL_PRESSURE	8.07582	IMPLIED_C_VBD	2903,21.394846,274,2951.3
_24V_AH	14.82,5.145	GPS	220522,174756,4736.146,-12256.799,1,1.6,4,15.5
_10V_AH	14.83,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	693	1115	11470.96	nil	0	0	0.00
Pitch_motor	27	301	124.11	nil	0	0	0.00
Roll_motor	77	196	226.20	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	43	15	9.59	nil	0	0	0.00
Core	2092	5	158.90	SciCon	3597	6	366.58
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1586	0	7.53
Compass	1025	5	76.06
RAFOS	367	40	218.02
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
6.67	16386	-146.63	-1.08	0.00	536.3	610.8	461.9	197.1	2109.7	0.00	0.00	0	118.66	106.28	0.00	0.00	0.005	0.000	0.000	2845.84	2812.69	2879.00	197.50	2110.25	0	0	0	15.78	30.00	30.00
119.02	18983	-146.63	-1.08	-80.00	2844.8	2812.2	2877.4	197.4	2110.1	3.22	-3.42	21	166.10	22.17	10.61	3.53	0.006	0.301	0.113	3597.66	3587.44	3607.88	1464.81	681.94	0	0	0	15.88	15.70	15.80
394.52	3205	-146.63	-0.88	0.00	3598.8	3594.8	3602.8	1464.8	682.1	44.10	-12.91	75	401.48	0.00	0.35	3.45	0.000	0.196	0.050	3598.91	3595.25	3602.56	1514.56	2174.94	0	0	0	30.00	15.85	15.93
589.81	32	-146.63	-0.88	0.00	3599.3	3597.4	3601.3	1514.2	2174.9	62.28	-9.08	101	591.38	0.00	0.00	0.00	0.000	0.000	0.000	3599.47	3597.31	3601.62	1514.50	2174.69	0	0	0	30.00	30.00	30.00
779.82	292	-146.63	-0.88	80.00	3599.3	3597.1	3601.4	1514.3	2174.2	80.08	-9.53	120	785.87	0.00	0.00	3.53	0.000	0.000	0.113	3599.59	3597.44	3601.75	1514.44	3619.31	0	0	0	30.00	30.00	15.98
839.87	1156	-146.63	-0.82	0.00	3599.1	3597.1	3601.1	1514.3	3618.8	86.71	-11.26	132	845.83	0.00	0.00	3.41	0.000	0.000	0.051	3599.91	3597.62	3602.19	1514.38	2117.19	0	0	0	30.00	30.00	16.02
1031.01	292	-146.63	-0.82	80.00	3599.8	3597.8	3601.9	1514.2	2116.6	105.31	-9.23	150	1038.14	0.00	0.00	3.65	0.000	0.000	0.110	3601.38	3598.44	3604.31	1514.88	3620.88	0	0	0	30.00	30.00	15.99
1086.54	3205	-146.63	-0.78	0.00	3599.5	3597.6	3601.4	1514.2	3620.2	111.18	-10.83	161	1093.68	0.00	0.17	3.41	0.000	0.184	0.051	3601.28	3599.00	3603.56	1540.38	2116.88	0	0	0	30.00	15.97	16.01
1281.61	420	-146.63	-0.86	80.00	3599.5	3597.5	3601.6	1540.1	2116.1	127.35	-8.02	181	1288.63	0.00	0.00	3.66	0.000	0.000	0.112	3599.94	3597.94	3601.94	1540.88	3617.44	0	0	0	30.00	30.00	15.99
1361.35	5285	-146.63	-0.90	0.00	3599.7	3597.9	3601.4	1540.4	3617.4	134.62	-9.09	197	1368.87	0.00	0.28	3.39	0.000	0.091	0.051	3599.97	3598.19	3601.75	1497.50	2116.69	0	0	0	30.00	16.03	16.04
1557.03	260	-146.63	-0.90	80.00	3599.7	3597.8	3601.6	1497.1	2116.7	154.18	-10.05	217	1564.14	0.00	0.00	3.64	0.000	0.000	0.110	3599.16	3597.25	3601.06	1497.19	3615.88	0	0	0	30.00	30.00	16.03
1609	end dive: TARGET_DEPTH_EXCEEDED
state	1609	begin apogee
1614.93	10243	0.00	-0.26	0.00	3599.7	3597.9	3601.4	1497.4	2118.6	160.20	-12.26	227	1735.51	112.71	1.25	0.09	1.116	0.169	0.196	2997.56	3050.88	2944.25	1665.31	2180.31	0	0	0	11.72	16.02	15.65
1736	end apogee: CONTROL_FINISHED_OK
state	1736	begin climb
1736.57	10759	146.63	1.08	-80.00	2998.6	3051.5	2945.6	1664.9	2180.6	165.86	0.00	239	1870.35	115.85	2.27	3.76	1.072	0.125	0.114	2401.84	2470.81	2332.88	1991.12	681.00	0	0	0	11.65	15.65	15.45
1883.02	5253	146.63	0.97	0.00	2399.8	2467.2	2332.4	1991.1	681.2	156.73	9.98	266	1890.74	0.00	0.31	3.55	0.000	0.190	0.050	2400.03	2467.38	2332.69	1957.62	2174.62	0	0	0	30.00	15.47	15.54
2078.71	8486	168.54	1.00	80.00	2395.4	2459.9	2331.0	1957.4	2174.6	139.77	8.71	286	2105.82	18.76	0.00	3.61	0.985	0.000	0.117	2311.72	2381.81	2241.62	1957.38	3616.38	0	0	0	11.66	30.00	15.67
2139.22	1156	168.54	0.96	0.00	2310.0	2378.9	2241.1	1956.8	3615.9	133.90	10.34	298	2145.18	0.00	0.00	3.46	0.000	0.000	0.050	2308.75	2377.50	2240.00	1957.25	2121.00	0	0	0	30.00	30.00	15.74
2333.21	8354	180.01	1.01	0.00	2309.0	2376.6	2241.4	1956.8	2120.6	115.94	9.18	319	2353.69	11.27	0.00	0.00	0.902	0.000	0.000	2265.38	2335.25	2195.50	1957.06	2119.38	0	0	0	11.74	30.00	30.00
2543.29	10663	197.49	1.09	80.00	2263.8	2332.1	2195.4	1956.8	2120.4	96.96	8.91	340	2567.22	15.92	0.26	3.71	0.949	0.089	0.115	2196.28	2269.62	2122.94	1999.81	3616.06	0	0	0	11.73	15.88	15.83
2610.62	5253	197.49	0.97	0.00	2192.1	2264.1	2120.1	1999.3	3616.5	88.78	13.32	353	2617.90	0.00	0.34	3.43	0.000	0.180	0.051	2193.44	2264.44	2122.44	1955.31	2120.62	0	0	0	30.00	15.80	15.88
2803.70	10403	213.51	1.06	0.00	2191.9	2263.6	2120.2	1955.5	2120.8	70.75	8.98	373	2820.60	14.44	0.23	0.00	0.924	0.095	0.000	2129.34	2205.25	2053.44	1993.25	2119.69	0	0	0	11.77	15.93	30.00
3003.88	260	213.51	1.06	80.00	2127.1	2201.5	2052.7	1993.3	2119.9	49.38	11.09	393	3010.74	0.00	0.00	3.70	0.000	0.000	0.114	2126.75	2201.12	2052.38	1993.00	3616.56	0	0	0	30.00	30.00	15.92
3039.14	1156	213.51	1.00	0.00	2125.7	2199.2	2052.2	1993.2	3616.7	45.04	12.54	400	3045.82	0.00	0.00	3.42	0.000	0.000	0.051	2127.78	2201.00	2054.56	1993.38	2118.75	0	0	0	30.00	30.00	15.96
3229.10	516	213.51	1.00	-80.00	2125.7	2199.2	2052.1	1993.3	2118.2	24.85	9.99	438	3235.96	0.00	0.00	3.51	0.000	0.000	0.116	2125.84	2199.25	2052.44	1993.44	680.56	0	0	0	30.00	30.00	15.97
3264.26	1028	213.51	1.00	0.00	2125.7	2198.9	2052.6	1993.1	680.4	20.71	11.97	445	3271.04	0.00	0.00	3.44	0.000	0.000	0.052	2125.72	2199.06	2052.38	1993.50	2173.38	0	0	0	30.00	30.00	16.01
3453.47	10663	299.99	1.21	80.00	2125.3	2198.4	2052.2	1992.9	2173.4	6.48	5.81	483	3531.91	65.04	0.17	3.57	0.945	0.103	0.117	1777.25	1880.12	1674.38	2030.19	3615.00	0	0	0	11.73	16.02	15.80
3545	end climb: SURFACE_DEPTH_REACHED
state	3545	begin surface coast
3595	end surface coast: CONTROL_FINISHED_OK
state	3595	begin surface