Glider dive log

HoodCanal 22May22 * SG241 * Dive index * Mission links * Dive 4 * 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 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 -1.4

D_TGT 160 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 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 1700 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 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 19.05171 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.910175 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 25.528978 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 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 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 18.910175 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 25.528978 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 19.05171 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 1700 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 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 5 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 4 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 220522,185039,4736.005,-12256.905,17,1.6,25,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,185618,4736.005,-12256.897,3,1.6,5,15.5 MHEAD_RNG_PITCHd_Wd 358.7,1944,-17.1,-9.697,-20.82,2278,0.137

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME N IRON 1.000000,0.016243,-0.028567,0.004449,1.079943,-0.050804,0.007833,-0.068671,1.074847,479.760223,-1278.568115,-275.042358

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653249727,0.6,start FG_AHR_24Vo 25.693

NET CACST,8,0,20220522194809.739088,06,32767,45,0130,0150,07,01,01,00,01,1,025,241,0,5,1,0,150,7.8,2.88,-100,0.12,-01,-0.07,61,10000,5000,0,-1,00,00*6D FG_AHR_10Vo 18.932

NET_PING 1653248890,25,1894.434082,7.800000,-2.515826 MEM0 60148,1,0,0

FINISH 0.6,1.020139 MEM1 65508,1,0,0

SM_CCo 3898.91,244.86,0.911,0,541.4,608.1,474.8,603.09 MEM2 944632,25,102136,65

SM_GC 1.54,244.86,11.38,0.09,0.911,0.086,0.157,541.4,608.1,474.8,199.6,2181.4,0,0,0,11.85,15.95,15.99 DATA_FILE_SIZE 12924,517

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 306498,0

IRIDIUM_FIX 4736.11,-12321.92,220522,185152 SDSIZE 3887104,3872544

TCM_TEMP 12.77 SDFILEDIR 68,1

SC_FREEKB 3877504 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.043, 67.7,1

HUMID 48.49 MAGCAL 1.000000,0.009379,0.019130,0.017437,1.099557,-0.059235,-0.017919,-0.053672,1.079867,457.8,-1275.3,-285.6,27,0.0258,1

TEMP 10.04 IMPLIED_C_PITCH 1752,18.87,282,1726.1,18.96

INTERNAL_PRESSURE 8.08207 IMPLIED_C_VBD 2947,27.119659,282,2973.6

_24V_AH 14.82,5.496 GPS 220522,200302,4736.377,-12256.535,9,1.1,23,15.5

_10V_AH 14.84,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 684 1103 11196.99 nil 0 0 0.00

Pitch_motor 26 302 120.03 nil 0 0 0.00

Roll_motor 57 188 159.35 nil 0 0 0.00

Iridium 214 203 645.59 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.26 nil 0 0 0.00

Core 2240 5 170.24 SciCon 3626 6 371.61

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1716 0 8.15

Compass 1041 5 77.29

RAFOS 407 40 242.12

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

6.54 16386 -146.63 -1.08 0.00 494.6 573.6 415.7 194.7 2110.4 0.00 0.00 0 116.44 105.01 0.00 0.00 0.005 0.000 0.000 2823.47 2796.25 2850.69 194.88 2110.25 0 0 0 15.25 30.00 30.00

116.73 18727 -146.63 -1.08 80.00 2822.6 2795.8 2849.4 194.7 2110.5 3.25 -1.65 20 164.15 22.49 10.32 3.67 0.006 0.302 0.108 3597.16 3584.81 3609.50 1438.19 3617.38 0 0 0 15.91 15.75 15.84

392.59 3205 -146.63 -0.77 0.00 3598.3 3588.5 3608.2 1438.2 3618.0 46.17 -13.71 70 399.61 0.00 0.54 3.40 0.000 0.192 0.051 3598.62 3588.31 3608.94 1514.38 2117.06 0 0 0 30.00 15.85 15.92

582.96 292 -146.63 -0.77 80.00 3598.6 3593.5 3603.6 1514.3 2115.9 63.17 -8.62 93 590.07 0.00 0.00 3.67 0.000 0.000 0.108 3598.72 3593.81 3603.62 1514.38 3617.62 0 0 0 30.00 30.00 15.95

820.77 1156 -146.63 -0.69 0.00 3598.8 3593.8 3603.9 1514.6 3616.6 87.53 -10.58 140 826.72 0.00 0.00 3.41 0.000 0.000 0.050 3598.38 3593.38 3603.38 1514.06 2117.19 0 0 0 30.00 30.00 16.01

1010.77 292 -146.63 -0.69 80.00 3599.0 3594.5 3603.5 1514.8 2116.9 104.55 -9.00 160 1017.88 0.00 0.00 3.66 0.000 0.000 0.109 3598.62 3594.12 3603.12 1514.25 3619.56 0 0 0 30.00 30.00 16.02

1070.56 3205 -146.63 -0.65 0.00 3598.7 3594.2 3603.2 1514.4 3620.3 110.64 -10.19 172 1078.08 0.00 0.19 3.40 0.000 0.182 0.049 3598.97 3594.69 3603.25 1543.69 2117.50 0 0 0 30.00 15.99 16.05

1266.35 420 -146.63 -0.72 80.00 3598.9 3595.1 3602.8 1543.9 2117.2 125.84 -7.52 192 1273.38 0.00 0.00 3.65 0.000 0.000 0.110 3599.44 3595.50 3603.38 1543.56 3616.38 0 0 0 30.00 30.00 16.05

1334.76 5285 -146.63 -0.76 0.00 3599.0 3595.1 3602.8 1543.8 3616.5 131.69 -8.75 205 1341.96 0.00 0.27 3.38 0.000 0.089 0.048 3598.91 3595.00 3602.81 1502.12 2117.31 0 0 0 30.00 16.06 16.07

1522.65 0 -146.63 -0.76 0.00 3598.9 3594.9 3602.9 1503.0 2117.4 149.88 -9.71 225 1524.22 0.00 0.00 0.00 0.000 0.000 0.000 3598.25 3594.31 3602.19 1502.94 2116.88 0 0 0 30.00 30.00 30.00

1633 end dive: TARGET_DEPTH_EXCEEDED

state 1633 begin apogee

1633.99 10243 0.00 -0.26 0.00 3599.0 3595.1 3602.8 1503.0 2180.1 160.59 -9.75 236 1752.61 111.09 1.00 0.10 1.103 0.160 0.188 3000.19 3052.69 2947.69 1637.00 2110.88 0 0 0 11.75 16.07 15.71

1754 end apogee: CONTROL_FINISHED_OK

state 1754 begin climb

1753.67 10759 146.63 1.08 -80.00 2998.5 3051.1 2945.9 1637.2 2110.9 165.69 0.00 247 1886.50 115.17 2.27 3.60 1.060 0.134 0.117 2400.69 2471.38 2330.00 1960.94 683.44 0 0 0 11.74 15.69 15.01

1914.21 9382 157.07 1.03 0.00 2399.1 2466.8 2331.4 1962.0 683.4 155.81 9.23 276 1932.24 10.44 0.00 3.52 0.871 0.000 0.049 2358.66 2427.50 2289.81 1961.94 2174.88 0 0 0 11.50 30.00 15.59

2112.84 260 157.07 1.03 80.00 2355.3 2421.6 2289.1 1961.6 2175.2 136.43 9.80 298 2119.02 0.00 0.00 3.58 0.000 0.000 0.115 2357.53 2423.31 2291.75 1961.81 3618.81 0 0 0 30.00 30.00 15.73

2142.92 5253 157.07 0.96 0.00 2354.1 2419.1 2289.1 1962.2 3619.2 133.10 10.57 304 2150.18 0.00 0.31 3.47 0.000 0.187 0.050 2352.50 2417.62 2287.38 1925.56 2118.50 0 0 0 30.00 15.72 15.79

2337.99 10403 196.64 1.10 0.00 2354.2 2419.2 2289.1 1925.5 2118.4 117.26 7.92 324 2372.82 32.26 0.31 0.00 1.006 0.083 0.000 2199.69 2276.94 2122.44 1970.25 2116.94 0 0 0 11.76 15.87 30.00

2557.87 260 196.64 1.10 80.00 2194.1 2267.4 2120.7 1974.0 2117.1 94.91 10.06 346 2565.02 0.00 0.00 3.69 0.000 0.000 0.113 2192.28 2266.00 2118.56 1973.50 3616.44 0 0 0 30.00 30.00 15.85

2587.68 1156 196.64 1.07 0.00 2192.8 2265.8 2119.9 1973.4 3615.8 91.42 10.89 352 2595.09 0.00 0.00 3.43 0.000 0.000 0.050 2194.88 2267.44 2122.31 1974.62 2121.06 0 0 0 30.00 30.00 15.89

2783.35 0 196.64 1.07 0.00 2192.8 2265.5 2120.1 1974.2 2120.8 71.10 10.06 372 2784.92 0.00 0.00 0.00 0.000 0.000 0.000 2191.69 2264.50 2118.88 1973.81 2120.81 0 0 0 30.00 30.00 30.00

2973.36 0 196.64 1.07 0.00 2192.5 2264.9 2120.0 1974.1 2121.3 51.19 10.25 391 2974.92 0.00 0.00 0.00 0.000 0.000 0.000 2191.44 2264.19 2118.69 1973.81 2121.38 0 0 0 30.00 30.00 30.00

3156.60 8614 202.29 1.11 80.00 2192.4 2264.6 2120.2 1973.8 2120.9 33.40 9.44 425 3169.82 6.01 0.00 3.70 0.679 0.000 0.117 2172.75 2245.62 2099.88 1973.50 3616.06 0 0 0 11.75 30.00 15.98

3198.14 1028 202.29 1.11 0.00 2173.7 2246.1 2101.3 1973.9 3616.8 29.07 10.46 433 3205.01 0.00 0.00 3.42 0.000 0.000 0.050 2175.09 2246.44 2103.75 1972.50 2120.00 0 0 0 30.00 30.00 16.02

3388.42 10403 249.26 1.25 0.00 2173.5 2245.6 2101.4 1973.8 2120.6 13.15 7.59 471 3430.42 37.56 0.18 0.00 0.939 0.099 0.000 1983.94 2072.75 1895.12 2011.81 2120.81 0 0 0 11.75 16.04 30.00

3574 end climb: SURFACE_DEPTH_REACHED

state 3574 begin surface coast

3619 end surface coast: CONTROL_FINISHED_OK

state 3619 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	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	-1.4
D_TGT	160	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	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	1700	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	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	19.05171	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.910175	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	25.528978	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	220522,185039,4736.005,-12256.905,17,1.6,25,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,185618,4736.005,-12256.897,3,1.6,5,15.5	MHEAD_RNG_PITCHd_Wd	358.7,1944,-17.1,-9.697,-20.82,2278,0.137
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.016243,-0.028567,0.004449,1.079943,-0.050804,0.007833,-0.068671,1.074847,479.760223,-1278.568115,-275.042358
TGT_LATLONG	4737.000,-12256.400

NAV	1653249727,0.6,start	FG_AHR_24Vo	25.693
NET	CACST,8,0,20220522194809.739088,06,32767,45,0130,0150,07,01,01,00,01,1,025,241,0,5,1,0,150,7.8,2.88,-100,0.12,-01,-0.07,61,10000,5000,0,-1,00,00*6D	FG_AHR_10Vo	18.932
NET_PING	1653248890,25,1894.434082,7.800000,-2.515826	MEM0	60148,1,0,0
FINISH	0.6,1.020139	MEM1	65508,1,0,0
SM_CCo	3898.91,244.86,0.911,0,541.4,608.1,474.8,603.09	MEM2	944632,25,102136,65
SM_GC	1.54,244.86,11.38,0.09,0.911,0.086,0.157,541.4,608.1,474.8,199.6,2181.4,0,0,0,11.85,15.95,15.99	DATA_FILE_SIZE	12924,517
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	306498,0
IRIDIUM_FIX	4736.11,-12321.92,220522,185152	SDSIZE	3887104,3872544
TCM_TEMP	12.77	SDFILEDIR	68,1
SC_FREEKB	3877504	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.043, 67.7,1
HUMID	48.49	MAGCAL	1.000000,0.009379,0.019130,0.017437,1.099557,-0.059235,-0.017919,-0.053672,1.079867,457.8,-1275.3,-285.6,27,0.0258,1
TEMP	10.04	IMPLIED_C_PITCH	1752,18.87,282,1726.1,18.96
INTERNAL_PRESSURE	8.08207	IMPLIED_C_VBD	2947,27.119659,282,2973.6
_24V_AH	14.82,5.496	GPS	220522,200302,4736.377,-12256.535,9,1.1,23,15.5
_10V_AH	14.84,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	684	1103	11196.99	nil	0	0	0.00
Pitch_motor	26	302	120.03	nil	0	0	0.00
Roll_motor	57	188	159.35	nil	0	0	0.00
Iridium	214	203	645.59	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.26	nil	0	0	0.00
Core	2240	5	170.24	SciCon	3626	6	371.61
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1716	0	8.15
Compass	1041	5	77.29
RAFOS	407	40	242.12
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
6.54	16386	-146.63	-1.08	0.00	494.6	573.6	415.7	194.7	2110.4	0.00	0.00	0	116.44	105.01	0.00	0.00	0.005	0.000	0.000	2823.47	2796.25	2850.69	194.88	2110.25	0	0	0	15.25	30.00	30.00
116.73	18727	-146.63	-1.08	80.00	2822.6	2795.8	2849.4	194.7	2110.5	3.25	-1.65	20	164.15	22.49	10.32	3.67	0.006	0.302	0.108	3597.16	3584.81	3609.50	1438.19	3617.38	0	0	0	15.91	15.75	15.84
392.59	3205	-146.63	-0.77	0.00	3598.3	3588.5	3608.2	1438.2	3618.0	46.17	-13.71	70	399.61	0.00	0.54	3.40	0.000	0.192	0.051	3598.62	3588.31	3608.94	1514.38	2117.06	0	0	0	30.00	15.85	15.92
582.96	292	-146.63	-0.77	80.00	3598.6	3593.5	3603.6	1514.3	2115.9	63.17	-8.62	93	590.07	0.00	0.00	3.67	0.000	0.000	0.108	3598.72	3593.81	3603.62	1514.38	3617.62	0	0	0	30.00	30.00	15.95
820.77	1156	-146.63	-0.69	0.00	3598.8	3593.8	3603.9	1514.6	3616.6	87.53	-10.58	140	826.72	0.00	0.00	3.41	0.000	0.000	0.050	3598.38	3593.38	3603.38	1514.06	2117.19	0	0	0	30.00	30.00	16.01
1010.77	292	-146.63	-0.69	80.00	3599.0	3594.5	3603.5	1514.8	2116.9	104.55	-9.00	160	1017.88	0.00	0.00	3.66	0.000	0.000	0.109	3598.62	3594.12	3603.12	1514.25	3619.56	0	0	0	30.00	30.00	16.02
1070.56	3205	-146.63	-0.65	0.00	3598.7	3594.2	3603.2	1514.4	3620.3	110.64	-10.19	172	1078.08	0.00	0.19	3.40	0.000	0.182	0.049	3598.97	3594.69	3603.25	1543.69	2117.50	0	0	0	30.00	15.99	16.05
1266.35	420	-146.63	-0.72	80.00	3598.9	3595.1	3602.8	1543.9	2117.2	125.84	-7.52	192	1273.38	0.00	0.00	3.65	0.000	0.000	0.110	3599.44	3595.50	3603.38	1543.56	3616.38	0	0	0	30.00	30.00	16.05
1334.76	5285	-146.63	-0.76	0.00	3599.0	3595.1	3602.8	1543.8	3616.5	131.69	-8.75	205	1341.96	0.00	0.27	3.38	0.000	0.089	0.048	3598.91	3595.00	3602.81	1502.12	2117.31	0	0	0	30.00	16.06	16.07
1522.65	0	-146.63	-0.76	0.00	3598.9	3594.9	3602.9	1503.0	2117.4	149.88	-9.71	225	1524.22	0.00	0.00	0.00	0.000	0.000	0.000	3598.25	3594.31	3602.19	1502.94	2116.88	0	0	0	30.00	30.00	30.00
1633	end dive: TARGET_DEPTH_EXCEEDED
state	1633	begin apogee
1633.99	10243	0.00	-0.26	0.00	3599.0	3595.1	3602.8	1503.0	2180.1	160.59	-9.75	236	1752.61	111.09	1.00	0.10	1.103	0.160	0.188	3000.19	3052.69	2947.69	1637.00	2110.88	0	0	0	11.75	16.07	15.71
1754	end apogee: CONTROL_FINISHED_OK
state	1754	begin climb
1753.67	10759	146.63	1.08	-80.00	2998.5	3051.1	2945.9	1637.2	2110.9	165.69	0.00	247	1886.50	115.17	2.27	3.60	1.060	0.134	0.117	2400.69	2471.38	2330.00	1960.94	683.44	0	0	0	11.74	15.69	15.01
1914.21	9382	157.07	1.03	0.00	2399.1	2466.8	2331.4	1962.0	683.4	155.81	9.23	276	1932.24	10.44	0.00	3.52	0.871	0.000	0.049	2358.66	2427.50	2289.81	1961.94	2174.88	0	0	0	11.50	30.00	15.59
2112.84	260	157.07	1.03	80.00	2355.3	2421.6	2289.1	1961.6	2175.2	136.43	9.80	298	2119.02	0.00	0.00	3.58	0.000	0.000	0.115	2357.53	2423.31	2291.75	1961.81	3618.81	0	0	0	30.00	30.00	15.73
2142.92	5253	157.07	0.96	0.00	2354.1	2419.1	2289.1	1962.2	3619.2	133.10	10.57	304	2150.18	0.00	0.31	3.47	0.000	0.187	0.050	2352.50	2417.62	2287.38	1925.56	2118.50	0	0	0	30.00	15.72	15.79
2337.99	10403	196.64	1.10	0.00	2354.2	2419.2	2289.1	1925.5	2118.4	117.26	7.92	324	2372.82	32.26	0.31	0.00	1.006	0.083	0.000	2199.69	2276.94	2122.44	1970.25	2116.94	0	0	0	11.76	15.87	30.00
2557.87	260	196.64	1.10	80.00	2194.1	2267.4	2120.7	1974.0	2117.1	94.91	10.06	346	2565.02	0.00	0.00	3.69	0.000	0.000	0.113	2192.28	2266.00	2118.56	1973.50	3616.44	0	0	0	30.00	30.00	15.85
2587.68	1156	196.64	1.07	0.00	2192.8	2265.8	2119.9	1973.4	3615.8	91.42	10.89	352	2595.09	0.00	0.00	3.43	0.000	0.000	0.050	2194.88	2267.44	2122.31	1974.62	2121.06	0	0	0	30.00	30.00	15.89
2783.35	0	196.64	1.07	0.00	2192.8	2265.5	2120.1	1974.2	2120.8	71.10	10.06	372	2784.92	0.00	0.00	0.00	0.000	0.000	0.000	2191.69	2264.50	2118.88	1973.81	2120.81	0	0	0	30.00	30.00	30.00
2973.36	0	196.64	1.07	0.00	2192.5	2264.9	2120.0	1974.1	2121.3	51.19	10.25	391	2974.92	0.00	0.00	0.00	0.000	0.000	0.000	2191.44	2264.19	2118.69	1973.81	2121.38	0	0	0	30.00	30.00	30.00
3156.60	8614	202.29	1.11	80.00	2192.4	2264.6	2120.2	1973.8	2120.9	33.40	9.44	425	3169.82	6.01	0.00	3.70	0.679	0.000	0.117	2172.75	2245.62	2099.88	1973.50	3616.06	0	0	0	11.75	30.00	15.98
3198.14	1028	202.29	1.11	0.00	2173.7	2246.1	2101.3	1973.9	3616.8	29.07	10.46	433	3205.01	0.00	0.00	3.42	0.000	0.000	0.050	2175.09	2246.44	2103.75	1972.50	2120.00	0	0	0	30.00	30.00	16.02
3388.42	10403	249.26	1.25	0.00	2173.5	2245.6	2101.4	1973.8	2120.6	13.15	7.59	471	3430.42	37.56	0.18	0.00	0.939	0.099	0.000	1983.94	2072.75	1895.12	2011.81	2120.81	0	0	0	11.75	16.04	30.00
3574	end climb: SURFACE_DEPTH_REACHED
state	3574	begin surface coast
3619	end surface coast: CONTROL_FINISHED_OK
state	3619	begin surface