Glider dive log

HoodCanal May22 * SG240 * Dive index * Mission links * Dive 4 * 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 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 4 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 -0.1

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 15 C_VBD 3000 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 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_RSLEEP 3 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 1700 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 19.228054 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 14.734007 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 3.5902801 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 4 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 150 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 14.734007 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.5902801 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 19.228054 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 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

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 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 65

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 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 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 4 MISSION 2 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 230522,191929,4736.725,-12256.718,1,1.1,31,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,192251,4736.733,-12256.684,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 185.3,1414,-17.6,-10.000,-21.21,2209,0.126

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME S IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,81.000000,-911.000000,-415.000000

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220523195811.220875,06,15860,42,0177,0150,07,01,01,00,01,-1,-01,-01,1,3,-16368,0,150,18.0,1.46,-100,1.54,-01,0.08,63,10000,5000,0,-1,00,00*73 _10V_AH 14.96,0.000

NET_PING 1653334092,28,491.081970,8.700000,1.346639 FG_AHR_24Vo 3.746

NAV 1653336433,69.6,0,stop FG_AHR_10Vo 14.757

FINISH 1.8,1.018858 MEM0 60148,1,0,0

SM_CCo 3585.40,200.40,0.951,0,541.4,561.2,521.5,603.10 MEM1 65508,1,0,0

SM_GC 1.72,200.40,12.04,3.40,0.951,0.069,0.057,541.4,561.2,521.5,184.1,2174.2,0,0,0,11.77,15.93,15.94 MEM2 944608,30,102120,62

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12898,485

IRIDIUM_FIX 4736.87,-12256.21,230522,181221 CAP_FILE_SIZE 348713,0

TCM_TEMP 17.60 SDSIZE 3887104,3873184

SC_FREEKB 3877504 SDFILEDIR 61,1

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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 50.22 CURRENT 0.039, 70.9,1

TEMP 9.96 IMPLIED_C_PITCH 1816,17.30,268,1758.0,18.26

INTERNAL_PRESSURE 7.98712 IMPLIED_C_VBD 2981,30.658667,268,2990.7

_24V_AH 14.96,4.506 GPS 230522,202331,4736.392,-12256.898,1,1.1,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 622 1140 10618.37 nil 0 0 0.00

Pitch_motor 28 253 109.27 nil 0 0 0.00

Roll_motor 78 202 238.17 nil 0 0 0.00

Iridium 134 214 430.91 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 2112 5 161.78 SciCon 3355 6 327.04

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1435 0 6.87

Compass 980 5 73.31

RAFOS 872 40 522.10

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

6.70 16386 -146.63 -1.10 0.00 538.2 560.2 516.3 185.9 2168.6 0.00 0.00 0 81.57 71.32 0.00 0.00 0.005 0.000 0.000 2603.09 2641.38 2564.81 185.94 2168.56 0 0 0 15.89 30.00 30.00

81.87 18727 -146.63 -1.10 80.00 2601.7 2639.6 2563.8 185.8 2168.8 3.18 -2.33 14 127.72 25.71 9.44 3.53 0.006 0.254 0.124 3595.50 3653.12 3537.88 1432.06 3616.75 0 0 0 15.93 15.76 15.85

211.21 3205 -146.63 -0.62 0.00 3598.2 3653.0 3543.3 1434.1 3617.6 23.10 -16.20 39 222.41 0.00 0.82 3.45 0.000 0.199 0.056 3598.22 3653.38 3543.06 1548.62 2121.38 0 0 0 30.00 15.85 15.93

407.20 420 -146.63 -0.55 80.00 3599.2 3655.6 3542.8 1549.4 2121.4 40.66 -7.86 74 413.99 0.00 0.00 3.66 0.000 0.000 0.123 3600.19 3656.00 3544.38 1548.94 3616.00 0 0 0 30.00 30.00 15.93

467.46 3205 -146.63 -0.40 0.00 3599.1 3655.1 3543.1 1549.0 3616.8 46.80 -10.66 86 474.41 0.00 0.35 3.42 0.000 0.180 0.055 3599.94 3655.44 3544.44 1605.62 2121.50 0 0 0 30.00 15.90 15.98

657.97 420 -146.63 -0.47 80.00 3599.8 3656.3 3543.2 1605.3 2122.0 61.77 -7.87 109 664.95 0.00 0.00 3.67 0.000 0.000 0.125 3600.47 3655.94 3545.00 1605.56 3616.50 0 0 0 30.00 30.00 15.96

683.49 5285 -146.63 -0.51 0.00 3599.9 3656.6 3543.2 1604.9 3615.8 63.97 -8.07 114 690.63 0.00 0.27 3.43 0.000 0.078 0.054 3599.62 3656.56 3542.69 1557.12 2121.50 0 0 0 30.00 16.00 16.00

878.41 32 -146.63 -0.51 0.00 3600.2 3656.9 3543.6 1558.1 2121.1 83.15 -9.81 134 879.98 0.00 0.00 0.00 0.000 0.000 0.000 3598.94 3655.19 3542.69 1558.19 2120.69 0 0 0 30.00 30.00 30.00

1061.44 32 -146.63 -0.51 0.00 3600.1 3656.6 3543.6 1558.1 2120.8 100.95 -9.55 153 1063.00 0.00 0.00 0.00 0.000 0.000 0.000 3599.12 3655.69 3542.56 1557.88 2120.94 0 0 0 30.00 30.00 30.00

1251.44 292 -146.63 -0.51 80.00 3599.9 3656.6 3543.2 1558.4 2120.8 119.08 -9.55 172 1258.57 0.00 0.00 3.66 0.000 0.000 0.127 3599.66 3656.25 3543.06 1558.06 3616.62 0 0 0 30.00 30.00 16.07

1297.05 3205 -146.63 -0.47 0.00 3600.2 3656.7 3543.8 1557.9 3616.5 124.14 -11.33 181 1304.25 0.00 0.25 3.40 0.000 0.180 0.056 3601.69 3657.12 3546.25 1587.88 2120.94 0 0 0 30.00 16.04 16.11

1487.72 420 -146.63 -0.55 80.00 3600.2 3656.6 3543.8 1587.6 2121.4 138.61 -6.54 200 1498.18 0.00 0.00 3.65 0.000 0.000 0.128 3601.03 3657.94 3544.12 1588.12 3614.44 0 0 0 30.00 30.00 16.07

1510.98 5285 -146.63 -0.60 0.00 3600.2 3656.6 3543.9 1588.2 3613.8 140.89 -7.00 205 1518.51 0.00 0.28 3.39 0.000 0.078 0.057 3600.53 3657.62 3543.44 1538.56 2120.00 0 0 0 30.00 16.11 16.12

1610 end dive: TARGET_DEPTH_EXCEEDED

state 1610 begin apogee

1610.90 10243 0.00 -0.26 0.00 3600.2 3656.2 3544.2 1538.4 2178.6 150.22 -10.15 216 1719.39 101.71 0.71 0.09 1.141 0.158 0.202 2997.19 3053.75 2940.62 1638.19 2113.25 0 0 0 11.84 16.09 15.78

1720 end apogee: CONTROL_FINISHED_OK

state 1720 begin climb

1720.52 10759 146.63 1.10 -80.00 2998.0 3054.6 2941.4 1638.5 2114.1 155.76 0.00 226 1843.94 106.07 2.23 3.69 1.103 0.141 0.129 2401.47 2475.06 2327.88 1964.38 682.81 0 0 0 11.74 15.75 15.53

1882.47 11431 203.80 1.31 0.00 2394.4 2468.4 2320.5 1965.8 683.1 147.94 7.35 256 1936.67 42.42 0.33 3.51 1.056 0.079 0.061 2167.47 2247.38 2087.56 2024.94 2170.94 0 0 0 11.67 15.66 15.67

2122.48 676 204.10 1.39 -80.00 2162.8 2246.4 2079.1 2025.9 2171.0 123.95 9.99 285 2129.59 0.00 0.00 3.80 0.000 0.000 0.125 2160.91 2244.81 2077.00 2025.88 684.31 0 0 0 30.00 30.00 15.77

2207.14 1028 204.10 1.39 0.00 2161.0 2244.6 2077.4 2026.0 684.2 113.84 12.21 300 2213.17 0.00 0.00 3.46 0.000 0.000 0.064 2163.19 2246.06 2080.31 2026.00 2167.94 0 0 0 30.00 30.00 15.84

2397.28 10919 213.31 1.49 -80.00 2160.3 2243.6 2077.1 2025.8 2168.4 94.92 9.57 320 2414.07 8.56 0.20 3.72 0.835 0.089 0.126 2130.56 2214.25 2046.88 2070.12 682.94 0 0 0 11.74 15.92 15.86

2467.55 5253 213.31 1.39 0.00 2127.5 2210.7 2044.4 2069.9 682.9 85.61 14.35 334 2474.80 0.00 0.32 3.44 0.000 0.157 0.063 2126.22 2210.19 2042.25 2028.19 2167.94 0 0 0 30.00 15.87 15.90

2662.62 10919 230.00 1.51 -80.00 2126.2 2210.2 2042.1 2028.2 2167.9 66.85 9.23 354 2690.65 14.38 0.27 3.76 0.941 0.080 0.125 2060.62 2145.94 1975.31 2074.19 683.25 0 0 0 11.78 15.98 15.89

2759.13 5253 230.00 1.42 0.00 2058.4 2143.1 1973.7 2073.8 683.1 53.99 14.66 372 2766.34 0.00 0.28 3.44 0.000 0.160 0.063 2059.72 2145.06 1974.38 2036.56 2168.69 0 0 0 30.00 15.92 15.95

2949.19 2725 232.77 1.53 -80.00 2057.2 2143.1 1971.3 2036.7 2169.1 34.34 9.87 407 2956.18 0.00 0.23 3.76 0.000 0.084 0.123 2059.88 2146.31 1973.44 2076.19 683.12 0 0 0 30.00 16.01 15.96

3024.67 5253 232.77 1.45 0.00 2057.4 2143.2 1971.5 2076.8 683.2 24.30 14.39 422 3031.57 0.00 0.25 3.42 0.000 0.162 0.062 2057.53 2143.38 1971.69 2044.25 2169.56 0 0 0 30.00 15.98 16.02

3215.06 10919 302.29 1.71 -80.00 2056.7 2143.1 1970.2 2044.2 2169.1 7.67 6.78 460 3279.85 51.75 0.50 3.79 0.974 0.077 0.124 1765.88 1857.56 1674.19 2121.69 682.94 0 0 0 11.84 16.05 15.86

3307 end climb: SURFACE_DEPTH_REACHED

state 3307 begin surface coast

3347 end surface coast: CONTROL_FINISHED_OK

state 3347 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	4	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	-0.1
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	15	C_VBD	3000	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	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_RSLEEP	3	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	1700	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	19.228054	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	14.734007	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	3.5902801	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	230522,191929,4736.725,-12256.718,1,1.1,31,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,192251,4736.733,-12256.684,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	185.3,1414,-17.6,-10.000,-21.21,2209,0.126
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,81.000000,-911.000000,-415.000000
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220523195811.220875,06,15860,42,0177,0150,07,01,01,00,01,-1,-01,-01,1,3,-16368,0,150,18.0,1.46,-100,1.54,-01,0.08,63,10000,5000,0,-1,00,00*73	_10V_AH	14.96,0.000
NET_PING	1653334092,28,491.081970,8.700000,1.346639	FG_AHR_24Vo	3.746
NAV	1653336433,69.6,0,stop	FG_AHR_10Vo	14.757
FINISH	1.8,1.018858	MEM0	60148,1,0,0
SM_CCo	3585.40,200.40,0.951,0,541.4,561.2,521.5,603.10	MEM1	65508,1,0,0
SM_GC	1.72,200.40,12.04,3.40,0.951,0.069,0.057,541.4,561.2,521.5,184.1,2174.2,0,0,0,11.77,15.93,15.94	MEM2	944608,30,102120,62
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12898,485
IRIDIUM_FIX	4736.87,-12256.21,230522,181221	CAP_FILE_SIZE	348713,0
TCM_TEMP	17.60	SDSIZE	3887104,3873184
SC_FREEKB	3877504	SDFILEDIR	61,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	50.22	CURRENT	0.039, 70.9,1
TEMP	9.96	IMPLIED_C_PITCH	1816,17.30,268,1758.0,18.26
INTERNAL_PRESSURE	7.98712	IMPLIED_C_VBD	2981,30.658667,268,2990.7
_24V_AH	14.96,4.506	GPS	230522,202331,4736.392,-12256.898,1,1.1,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	622	1140	10618.37	nil	0	0	0.00
Pitch_motor	28	253	109.27	nil	0	0	0.00
Roll_motor	78	202	238.17	nil	0	0	0.00
Iridium	134	214	430.91	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	2112	5	161.78	SciCon	3355	6	327.04
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1435	0	6.87
Compass	980	5	73.31
RAFOS	872	40	522.10
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
6.70	16386	-146.63	-1.10	0.00	538.2	560.2	516.3	185.9	2168.6	0.00	0.00	0	81.57	71.32	0.00	0.00	0.005	0.000	0.000	2603.09	2641.38	2564.81	185.94	2168.56	0	0	0	15.89	30.00	30.00
81.87	18727	-146.63	-1.10	80.00	2601.7	2639.6	2563.8	185.8	2168.8	3.18	-2.33	14	127.72	25.71	9.44	3.53	0.006	0.254	0.124	3595.50	3653.12	3537.88	1432.06	3616.75	0	0	0	15.93	15.76	15.85
211.21	3205	-146.63	-0.62	0.00	3598.2	3653.0	3543.3	1434.1	3617.6	23.10	-16.20	39	222.41	0.00	0.82	3.45	0.000	0.199	0.056	3598.22	3653.38	3543.06	1548.62	2121.38	0	0	0	30.00	15.85	15.93
407.20	420	-146.63	-0.55	80.00	3599.2	3655.6	3542.8	1549.4	2121.4	40.66	-7.86	74	413.99	0.00	0.00	3.66	0.000	0.000	0.123	3600.19	3656.00	3544.38	1548.94	3616.00	0	0	0	30.00	30.00	15.93
467.46	3205	-146.63	-0.40	0.00	3599.1	3655.1	3543.1	1549.0	3616.8	46.80	-10.66	86	474.41	0.00	0.35	3.42	0.000	0.180	0.055	3599.94	3655.44	3544.44	1605.62	2121.50	0	0	0	30.00	15.90	15.98
657.97	420	-146.63	-0.47	80.00	3599.8	3656.3	3543.2	1605.3	2122.0	61.77	-7.87	109	664.95	0.00	0.00	3.67	0.000	0.000	0.125	3600.47	3655.94	3545.00	1605.56	3616.50	0	0	0	30.00	30.00	15.96
683.49	5285	-146.63	-0.51	0.00	3599.9	3656.6	3543.2	1604.9	3615.8	63.97	-8.07	114	690.63	0.00	0.27	3.43	0.000	0.078	0.054	3599.62	3656.56	3542.69	1557.12	2121.50	0	0	0	30.00	16.00	16.00
878.41	32	-146.63	-0.51	0.00	3600.2	3656.9	3543.6	1558.1	2121.1	83.15	-9.81	134	879.98	0.00	0.00	0.00	0.000	0.000	0.000	3598.94	3655.19	3542.69	1558.19	2120.69	0	0	0	30.00	30.00	30.00
1061.44	32	-146.63	-0.51	0.00	3600.1	3656.6	3543.6	1558.1	2120.8	100.95	-9.55	153	1063.00	0.00	0.00	0.00	0.000	0.000	0.000	3599.12	3655.69	3542.56	1557.88	2120.94	0	0	0	30.00	30.00	30.00
1251.44	292	-146.63	-0.51	80.00	3599.9	3656.6	3543.2	1558.4	2120.8	119.08	-9.55	172	1258.57	0.00	0.00	3.66	0.000	0.000	0.127	3599.66	3656.25	3543.06	1558.06	3616.62	0	0	0	30.00	30.00	16.07
1297.05	3205	-146.63	-0.47	0.00	3600.2	3656.7	3543.8	1557.9	3616.5	124.14	-11.33	181	1304.25	0.00	0.25	3.40	0.000	0.180	0.056	3601.69	3657.12	3546.25	1587.88	2120.94	0	0	0	30.00	16.04	16.11
1487.72	420	-146.63	-0.55	80.00	3600.2	3656.6	3543.8	1587.6	2121.4	138.61	-6.54	200	1498.18	0.00	0.00	3.65	0.000	0.000	0.128	3601.03	3657.94	3544.12	1588.12	3614.44	0	0	0	30.00	30.00	16.07
1510.98	5285	-146.63	-0.60	0.00	3600.2	3656.6	3543.9	1588.2	3613.8	140.89	-7.00	205	1518.51	0.00	0.28	3.39	0.000	0.078	0.057	3600.53	3657.62	3543.44	1538.56	2120.00	0	0	0	30.00	16.11	16.12
1610	end dive: TARGET_DEPTH_EXCEEDED
state	1610	begin apogee
1610.90	10243	0.00	-0.26	0.00	3600.2	3656.2	3544.2	1538.4	2178.6	150.22	-10.15	216	1719.39	101.71	0.71	0.09	1.141	0.158	0.202	2997.19	3053.75	2940.62	1638.19	2113.25	0	0	0	11.84	16.09	15.78
1720	end apogee: CONTROL_FINISHED_OK
state	1720	begin climb
1720.52	10759	146.63	1.10	-80.00	2998.0	3054.6	2941.4	1638.5	2114.1	155.76	0.00	226	1843.94	106.07	2.23	3.69	1.103	0.141	0.129	2401.47	2475.06	2327.88	1964.38	682.81	0	0	0	11.74	15.75	15.53
1882.47	11431	203.80	1.31	0.00	2394.4	2468.4	2320.5	1965.8	683.1	147.94	7.35	256	1936.67	42.42	0.33	3.51	1.056	0.079	0.061	2167.47	2247.38	2087.56	2024.94	2170.94	0	0	0	11.67	15.66	15.67
2122.48	676	204.10	1.39	-80.00	2162.8	2246.4	2079.1	2025.9	2171.0	123.95	9.99	285	2129.59	0.00	0.00	3.80	0.000	0.000	0.125	2160.91	2244.81	2077.00	2025.88	684.31	0	0	0	30.00	30.00	15.77
2207.14	1028	204.10	1.39	0.00	2161.0	2244.6	2077.4	2026.0	684.2	113.84	12.21	300	2213.17	0.00	0.00	3.46	0.000	0.000	0.064	2163.19	2246.06	2080.31	2026.00	2167.94	0	0	0	30.00	30.00	15.84
2397.28	10919	213.31	1.49	-80.00	2160.3	2243.6	2077.1	2025.8	2168.4	94.92	9.57	320	2414.07	8.56	0.20	3.72	0.835	0.089	0.126	2130.56	2214.25	2046.88	2070.12	682.94	0	0	0	11.74	15.92	15.86
2467.55	5253	213.31	1.39	0.00	2127.5	2210.7	2044.4	2069.9	682.9	85.61	14.35	334	2474.80	0.00	0.32	3.44	0.000	0.157	0.063	2126.22	2210.19	2042.25	2028.19	2167.94	0	0	0	30.00	15.87	15.90
2662.62	10919	230.00	1.51	-80.00	2126.2	2210.2	2042.1	2028.2	2167.9	66.85	9.23	354	2690.65	14.38	0.27	3.76	0.941	0.080	0.125	2060.62	2145.94	1975.31	2074.19	683.25	0	0	0	11.78	15.98	15.89
2759.13	5253	230.00	1.42	0.00	2058.4	2143.1	1973.7	2073.8	683.1	53.99	14.66	372	2766.34	0.00	0.28	3.44	0.000	0.160	0.063	2059.72	2145.06	1974.38	2036.56	2168.69	0	0	0	30.00	15.92	15.95
2949.19	2725	232.77	1.53	-80.00	2057.2	2143.1	1971.3	2036.7	2169.1	34.34	9.87	407	2956.18	0.00	0.23	3.76	0.000	0.084	0.123	2059.88	2146.31	1973.44	2076.19	683.12	0	0	0	30.00	16.01	15.96
3024.67	5253	232.77	1.45	0.00	2057.4	2143.2	1971.5	2076.8	683.2	24.30	14.39	422	3031.57	0.00	0.25	3.42	0.000	0.162	0.062	2057.53	2143.38	1971.69	2044.25	2169.56	0	0	0	30.00	15.98	16.02
3215.06	10919	302.29	1.71	-80.00	2056.7	2143.1	1970.2	2044.2	2169.1	7.67	6.78	460	3279.85	51.75	0.50	3.79	0.974	0.077	0.124	1765.88	1857.56	1674.19	2121.69	682.94	0	0	0	11.84	16.05	15.86
3307	end climb: SURFACE_DEPTH_REACHED
state	3307	begin surface coast
3347	end surface coast: CONTROL_FINISHED_OK
state	3347	begin surface