Glider dive log

HoodCanal 24May22 * SG240 * Dive index * Mission links * Dive 5 * 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 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 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 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3025.1833 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 1798.9587 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 17.849726 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.10081 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 5.3564262 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 5 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 15.10081 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.3564262 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 17.849726 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 1798.9587 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 3025.1833 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 5 MISSION 3 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 240522,211401,4736.415,-12256.592,2,1.1,19,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,211733,4736.435,-12256.546,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 345.4,1062,-17.1,-9.697,-20.82,2278,0.130

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME N IRON 1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.045029,-890.596313,-433.708221

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET xm1t part outbox0003.n 1022 9 _10V_AH 15.00,0.000

NET_PING 1653430095,28,806.560486,10.400000,-1.067544 FG_AHR_24Vo 5.515

NAV 1653430032,62.6,1,stop FG_AHR_10Vo 15.128

MODEM_MSG CACST,8,0,20220524220501.614708,18,32767,39,0110,0000,246,02,02,01,03,1,025,121,0,5,1,0,150,-9.1,5.74,-100,-2.74,-01,1.20,72,925,0025,0,1,00,00*3B MEM0 60132,1,0,0

FREEZE 2.10,14.188,-1.451,0,1,0 MEM1 65508,1,0,0

SM_CCo 3936.80,191.17,0.927,0,500.9,517.1,484.8,619.15 MEM2 944344,35,102224,65

SM_GC 1.66,0.00,12.36,3.55,0.000,0.072,0.063,497.8,514.9,480.7,197.6,2167.5,0,0,0,30.00,15.61,15.61 DATA_FILE_SIZE 12930,528

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 366751,0

IRIDIUM_FIX 4736.00,-12258.89,240522,200559 SDSIZE 3887104,3872288

TCM_TEMP 17.65 SDFILEDIR 86,1

SC_FREEKB 3877184 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

MODEM 2,1653427803,47.61200,-122.96660,3.374,4942.6 CURRENT 0.071, 49.6,1

RAFOS_FIX 4737.757324,-12257.996094,240522,222201,2,510,4165.00 MAGCAL 1.000000,0.007350,0.049258,-0.005150,1.069260,-0.052242,-0.000458,-0.055870,1.058923,48.5,-858.6,-495.0,32,0.0320,0

HUMID 49.36 IMPLIED_C_PITCH 1808,17.32,280,1803.5,17.59

TEMP 10.35 IMPLIED_C_VBD 2998,24.419498,280,3011.6

INTERNAL_PRESSURE 7.98987 GPS 240522,222600,4736.937,-12256.359,1,1.0,3,15.5

_24V_AH 15.07,6.475

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 635 1141 10922.13 nil 0 0 0.00

Pitch_motor 28 261 113.49 nil 0 0 0.00

Roll_motor 72 203 223.32 nil 0 0 0.00

Iridium 143 234 508.30 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 2315 5 177.84 SciCon 3743 6 363.88

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1720 0 8.26

Compass 1067 5 80.03

RAFOS 854 40 512.46

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

6.72 16386 -146.63 -1.14 0.00 561.4 581.2 541.6 187.5 2131.9 0.00 0.00 0 66.84 57.10 0.00 0.00 0.005 0.000 0.000 2240.22 2285.31 2195.12 187.62 2132.06 0 0 0 15.59 30.00 30.00

67.15 18983 -146.63 -1.14 -80.00 2240.0 2284.2 2195.7 187.6 2132.2 3.14 -2.64 10 133.09 40.54 10.35 3.70 0.005 0.261 0.118 3621.84 3679.62 3564.06 1521.38 681.94 0 0 0 15.86 15.69 15.79

361.58 3205 -146.63 -0.95 0.00 3623.4 3679.1 3567.8 1521.2 681.8 36.72 -12.72 68 368.52 0.00 0.32 3.45 0.000 0.189 0.060 3623.66 3679.06 3568.25 1568.00 2171.69 0 0 0 30.00 15.86 15.93

551.95 548 -146.63 -0.95 -80.00 3623.8 3680.1 3567.6 1568.1 2171.3 52.85 -8.22 103 559.17 0.00 0.00 3.83 0.000 0.000 0.116 3624.06 3679.25 3568.88 1568.38 682.00 0 0 0 30.00 30.00 15.94

587.73 1188 -146.63 -0.91 0.00 3624.2 3680.5 3567.9 1568.8 681.9 56.20 -8.87 110 593.59 0.00 0.00 3.43 0.000 0.000 0.057 3626.12 3682.12 3570.12 1568.19 2170.69 0 0 0 30.00 30.00 15.99

781.19 32 -146.63 -0.91 0.00 3624.4 3680.8 3567.9 1568.0 2172.9 72.46 -8.38 130 782.75 0.00 0.00 0.00 0.000 0.000 0.000 3623.59 3680.88 3566.31 1568.31 2172.19 0 0 0 30.00 30.00 30.00

971.20 32 -146.63 -0.91 0.00 3624.6 3680.8 3568.4 1568.2 2172.9 89.10 -8.71 149 972.77 0.00 0.00 0.00 0.000 0.000 0.000 3624.16 3680.06 3568.25 1568.06 2172.25 0 0 0 30.00 30.00 30.00

1161.23 32 -146.63 -0.91 0.00 3624.6 3680.5 3568.8 1567.9 2173.2 105.65 -8.77 168 1162.80 0.00 0.00 0.00 0.000 0.000 0.000 3623.62 3679.88 3567.38 1568.12 2173.00 0 0 0 30.00 30.00 30.00

1347.24 548 -146.63 -0.91 -80.00 3624.8 3680.6 3569.0 1567.9 2173.1 121.88 -8.82 187 1354.47 0.00 0.00 3.84 0.000 0.000 0.120 3625.56 3682.62 3568.50 1567.31 684.38 0 0 0 30.00 30.00 16.03

1412.88 1028 -146.63 -0.91 0.00 3624.9 3680.4 3569.4 1568.4 684.2 128.57 -10.52 200 1418.92 0.00 0.00 3.42 0.000 0.000 0.059 3626.38 3682.12 3570.62 1567.88 2171.56 0 0 0 30.00 30.00 16.08

1602.98 292 -146.63 -0.91 80.00 3625.2 3681.1 3569.2 1568.2 2171.8 146.21 -8.89 220 1610.00 0.00 0.00 3.57 0.000 0.000 0.130 3626.75 3682.56 3570.94 1568.00 3617.75 0 0 0 30.00 30.00 16.06

1652.67 1028 -146.63 -0.91 0.00 3624.9 3680.9 3568.9 1568.2 3617.8 151.33 -10.37 230 1660.16 0.00 0.00 3.49 0.000 0.000 0.056 3625.34 3680.69 3570.00 1568.19 2120.75 0 0 0 30.00 30.00 16.10

1758 end dive: TARGET_DEPTH_EXCEEDED

state 1758 begin apogee

1759.77 10243 0.00 -0.28 0.00 3625.2 3680.9 3569.4 1568.1 2176.9 160.60 -8.70 241 1869.39 102.39 1.07 0.09 1.141 0.149 0.203 3025.56 3081.69 2969.44 1729.69 2119.38 0 0 0 11.94 16.05 15.74

1870 end apogee: CONTROL_FINISHED_OK

state 1870 begin climb

1870.53 10243 146.63 1.14 0.00 3022.8 3079.6 2966.1 1730.4 2119.5 164.07 0.00 251 1985.90 105.52 2.35 0.00 1.106 0.120 0.000 2429.47 2498.69 2360.25 2074.19 2119.44 0 0 0 11.89 15.73 30.00

2169.35 4741 146.63 1.04 -80.00 2419.9 2494.9 2344.8 2075.4 2120.1 135.38 11.95 282 2176.73 0.00 0.26 3.80 0.000 0.168 0.127 2422.09 2495.81 2348.38 2043.62 684.44 0 0 0 30.00 15.74 15.73

2219.47 17542 146.63 0.93 0.00 2417.6 2490.9 2344.4 2043.6 684.4 129.09 12.47 292 2226.90 0.00 0.00 3.48 0.000 0.000 0.060 2420.19 2494.12 2346.25 2043.56 2169.38 0 0 0 30.00 30.00 15.80

2411.63 16902 146.63 0.93 -80.00 2417.6 2490.9 2344.2 2043.9 2169.3 110.69 9.83 311 2422.17 0.00 0.00 3.89 0.000 0.000 0.123 2418.66 2492.12 2345.19 2043.19 683.12 0 0 0 30.00 30.00 15.84

2475.51 21639 146.63 0.82 0.00 2416.7 2490.6 2342.8 2043.2 683.3 102.56 11.89 322 2483.19 0.00 0.35 3.47 0.000 0.158 0.060 2417.38 2491.56 2343.19 1989.94 2172.31 0 0 0 30.00 15.85 15.90

2671.29 10919 203.62 1.00 -80.00 2416.3 2490.6 2342.1 1989.6 2172.2 87.81 7.14 342 2725.64 41.97 0.37 3.94 1.025 0.073 0.124 2191.47 2270.56 2112.38 2049.69 683.31 0 0 0 11.95 15.94 15.77

2764.13 5253 203.62 0.93 0.00 2189.2 2268.9 2109.5 2049.8 683.1 77.63 13.00 360 2771.34 0.00 0.26 3.49 0.000 0.161 0.060 2189.59 2269.50 2109.69 2015.94 2169.50 0 0 0 30.00 15.79 15.83

2959.18 10663 248.04 1.09 80.00 2186.8 2268.9 2104.6 2016.6 2169.9 61.79 7.70 380 3008.54 32.91 0.31 3.64 0.984 0.075 0.131 2011.84 2098.19 1925.50 2069.62 3616.50 0 0 0 11.94 15.91 15.78

3021.74 1156 248.04 1.04 0.00 2011.4 2097.6 1925.2 2069.8 3616.7 54.67 12.58 391 3029.42 0.00 0.00 3.55 0.000 0.000 0.056 2014.06 2100.38 1927.75 2069.19 2123.81 0 0 0 30.00 30.00 15.79

3212.26 516 248.04 1.04 -80.00 2008.0 2097.4 1918.5 2069.5 2124.1 31.58 12.02 425 3219.21 0.00 0.00 3.75 0.000 0.000 0.127 2009.19 2098.75 1919.62 2069.44 683.81 0 0 0 30.00 30.00 15.87

3292.68 5253 248.04 1.00 0.00 2006.9 2095.8 1918.0 2069.3 683.5 20.43 13.83 441 3299.61 0.00 0.28 3.46 0.000 0.149 0.061 2006.94 2096.00 1917.88 2032.69 2167.88 0 0 0 30.00 15.90 15.94

3483.08 10919 338.94 1.30 -80.00 2005.4 2095.6 1915.2 2033.1 2168.1 6.23 5.61 479 3558.58 63.48 0.56 3.90 0.951 0.075 0.122 1641.75 1730.25 1553.25 2118.31 684.50 0 0 0 11.89 16.00 15.76

3735 end climb: NO_VERTICAL_VELOCITY

state 3735 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	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	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3025.1833	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	1798.9587	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	17.849726	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.10081	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	5.3564262	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	240522,211401,4736.415,-12256.592,2,1.1,19,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,211733,4736.435,-12256.546,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	345.4,1062,-17.1,-9.697,-20.82,2278,0.130
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.045029,-890.596313,-433.708221
TGT_LATLONG	4737.000,-12256.400

NET	xm1t part outbox0003.n 1022 9	_10V_AH	15.00,0.000
NET_PING	1653430095,28,806.560486,10.400000,-1.067544	FG_AHR_24Vo	5.515
NAV	1653430032,62.6,1,stop	FG_AHR_10Vo	15.128
MODEM_MSG	CACST,8,0,20220524220501.614708,18,32767,39,0110,0000,246,02,02,01,03,1,025,121,0,5,1,0,150,-9.1,5.74,-100,-2.74,-01,1.20,72,925,0025,0,1,00,00*3B	MEM0	60132,1,0,0
FREEZE	2.10,14.188,-1.451,0,1,0	MEM1	65508,1,0,0
SM_CCo	3936.80,191.17,0.927,0,500.9,517.1,484.8,619.15	MEM2	944344,35,102224,65
SM_GC	1.66,0.00,12.36,3.55,0.000,0.072,0.063,497.8,514.9,480.7,197.6,2167.5,0,0,0,30.00,15.61,15.61	DATA_FILE_SIZE	12930,528
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	366751,0
IRIDIUM_FIX	4736.00,-12258.89,240522,200559	SDSIZE	3887104,3872288
TCM_TEMP	17.65	SDFILEDIR	86,1
SC_FREEKB	3877184	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
MODEM	2,1653427803,47.61200,-122.96660,3.374,4942.6	CURRENT	0.071, 49.6,1
RAFOS_FIX	4737.757324,-12257.996094,240522,222201,2,510,4165.00	MAGCAL	1.000000,0.007350,0.049258,-0.005150,1.069260,-0.052242,-0.000458,-0.055870,1.058923,48.5,-858.6,-495.0,32,0.0320,0
HUMID	49.36	IMPLIED_C_PITCH	1808,17.32,280,1803.5,17.59
TEMP	10.35	IMPLIED_C_VBD	2998,24.419498,280,3011.6
INTERNAL_PRESSURE	7.98987	GPS	240522,222600,4736.937,-12256.359,1,1.0,3,15.5
_24V_AH	15.07,6.475

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	635	1141	10922.13	nil	0	0	0.00
Pitch_motor	28	261	113.49	nil	0	0	0.00
Roll_motor	72	203	223.32	nil	0	0	0.00
Iridium	143	234	508.30	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	2315	5	177.84	SciCon	3743	6	363.88
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1720	0	8.26
Compass	1067	5	80.03
RAFOS	854	40	512.46
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
6.72	16386	-146.63	-1.14	0.00	561.4	581.2	541.6	187.5	2131.9	0.00	0.00	0	66.84	57.10	0.00	0.00	0.005	0.000	0.000	2240.22	2285.31	2195.12	187.62	2132.06	0	0	0	15.59	30.00	30.00
67.15	18983	-146.63	-1.14	-80.00	2240.0	2284.2	2195.7	187.6	2132.2	3.14	-2.64	10	133.09	40.54	10.35	3.70	0.005	0.261	0.118	3621.84	3679.62	3564.06	1521.38	681.94	0	0	0	15.86	15.69	15.79
361.58	3205	-146.63	-0.95	0.00	3623.4	3679.1	3567.8	1521.2	681.8	36.72	-12.72	68	368.52	0.00	0.32	3.45	0.000	0.189	0.060	3623.66	3679.06	3568.25	1568.00	2171.69	0	0	0	30.00	15.86	15.93
551.95	548	-146.63	-0.95	-80.00	3623.8	3680.1	3567.6	1568.1	2171.3	52.85	-8.22	103	559.17	0.00	0.00	3.83	0.000	0.000	0.116	3624.06	3679.25	3568.88	1568.38	682.00	0	0	0	30.00	30.00	15.94
587.73	1188	-146.63	-0.91	0.00	3624.2	3680.5	3567.9	1568.8	681.9	56.20	-8.87	110	593.59	0.00	0.00	3.43	0.000	0.000	0.057	3626.12	3682.12	3570.12	1568.19	2170.69	0	0	0	30.00	30.00	15.99
781.19	32	-146.63	-0.91	0.00	3624.4	3680.8	3567.9	1568.0	2172.9	72.46	-8.38	130	782.75	0.00	0.00	0.00	0.000	0.000	0.000	3623.59	3680.88	3566.31	1568.31	2172.19	0	0	0	30.00	30.00	30.00
971.20	32	-146.63	-0.91	0.00	3624.6	3680.8	3568.4	1568.2	2172.9	89.10	-8.71	149	972.77	0.00	0.00	0.00	0.000	0.000	0.000	3624.16	3680.06	3568.25	1568.06	2172.25	0	0	0	30.00	30.00	30.00
1161.23	32	-146.63	-0.91	0.00	3624.6	3680.5	3568.8	1567.9	2173.2	105.65	-8.77	168	1162.80	0.00	0.00	0.00	0.000	0.000	0.000	3623.62	3679.88	3567.38	1568.12	2173.00	0	0	0	30.00	30.00	30.00
1347.24	548	-146.63	-0.91	-80.00	3624.8	3680.6	3569.0	1567.9	2173.1	121.88	-8.82	187	1354.47	0.00	0.00	3.84	0.000	0.000	0.120	3625.56	3682.62	3568.50	1567.31	684.38	0	0	0	30.00	30.00	16.03
1412.88	1028	-146.63	-0.91	0.00	3624.9	3680.4	3569.4	1568.4	684.2	128.57	-10.52	200	1418.92	0.00	0.00	3.42	0.000	0.000	0.059	3626.38	3682.12	3570.62	1567.88	2171.56	0	0	0	30.00	30.00	16.08
1602.98	292	-146.63	-0.91	80.00	3625.2	3681.1	3569.2	1568.2	2171.8	146.21	-8.89	220	1610.00	0.00	0.00	3.57	0.000	0.000	0.130	3626.75	3682.56	3570.94	1568.00	3617.75	0	0	0	30.00	30.00	16.06
1652.67	1028	-146.63	-0.91	0.00	3624.9	3680.9	3568.9	1568.2	3617.8	151.33	-10.37	230	1660.16	0.00	0.00	3.49	0.000	0.000	0.056	3625.34	3680.69	3570.00	1568.19	2120.75	0	0	0	30.00	30.00	16.10
1758	end dive: TARGET_DEPTH_EXCEEDED
state	1758	begin apogee
1759.77	10243	0.00	-0.28	0.00	3625.2	3680.9	3569.4	1568.1	2176.9	160.60	-8.70	241	1869.39	102.39	1.07	0.09	1.141	0.149	0.203	3025.56	3081.69	2969.44	1729.69	2119.38	0	0	0	11.94	16.05	15.74
1870	end apogee: CONTROL_FINISHED_OK
state	1870	begin climb
1870.53	10243	146.63	1.14	0.00	3022.8	3079.6	2966.1	1730.4	2119.5	164.07	0.00	251	1985.90	105.52	2.35	0.00	1.106	0.120	0.000	2429.47	2498.69	2360.25	2074.19	2119.44	0	0	0	11.89	15.73	30.00
2169.35	4741	146.63	1.04	-80.00	2419.9	2494.9	2344.8	2075.4	2120.1	135.38	11.95	282	2176.73	0.00	0.26	3.80	0.000	0.168	0.127	2422.09	2495.81	2348.38	2043.62	684.44	0	0	0	30.00	15.74	15.73
2219.47	17542	146.63	0.93	0.00	2417.6	2490.9	2344.4	2043.6	684.4	129.09	12.47	292	2226.90	0.00	0.00	3.48	0.000	0.000	0.060	2420.19	2494.12	2346.25	2043.56	2169.38	0	0	0	30.00	30.00	15.80
2411.63	16902	146.63	0.93	-80.00	2417.6	2490.9	2344.2	2043.9	2169.3	110.69	9.83	311	2422.17	0.00	0.00	3.89	0.000	0.000	0.123	2418.66	2492.12	2345.19	2043.19	683.12	0	0	0	30.00	30.00	15.84
2475.51	21639	146.63	0.82	0.00	2416.7	2490.6	2342.8	2043.2	683.3	102.56	11.89	322	2483.19	0.00	0.35	3.47	0.000	0.158	0.060	2417.38	2491.56	2343.19	1989.94	2172.31	0	0	0	30.00	15.85	15.90
2671.29	10919	203.62	1.00	-80.00	2416.3	2490.6	2342.1	1989.6	2172.2	87.81	7.14	342	2725.64	41.97	0.37	3.94	1.025	0.073	0.124	2191.47	2270.56	2112.38	2049.69	683.31	0	0	0	11.95	15.94	15.77
2764.13	5253	203.62	0.93	0.00	2189.2	2268.9	2109.5	2049.8	683.1	77.63	13.00	360	2771.34	0.00	0.26	3.49	0.000	0.161	0.060	2189.59	2269.50	2109.69	2015.94	2169.50	0	0	0	30.00	15.79	15.83
2959.18	10663	248.04	1.09	80.00	2186.8	2268.9	2104.6	2016.6	2169.9	61.79	7.70	380	3008.54	32.91	0.31	3.64	0.984	0.075	0.131	2011.84	2098.19	1925.50	2069.62	3616.50	0	0	0	11.94	15.91	15.78
3021.74	1156	248.04	1.04	0.00	2011.4	2097.6	1925.2	2069.8	3616.7	54.67	12.58	391	3029.42	0.00	0.00	3.55	0.000	0.000	0.056	2014.06	2100.38	1927.75	2069.19	2123.81	0	0	0	30.00	30.00	15.79
3212.26	516	248.04	1.04	-80.00	2008.0	2097.4	1918.5	2069.5	2124.1	31.58	12.02	425	3219.21	0.00	0.00	3.75	0.000	0.000	0.127	2009.19	2098.75	1919.62	2069.44	683.81	0	0	0	30.00	30.00	15.87
3292.68	5253	248.04	1.00	0.00	2006.9	2095.8	1918.0	2069.3	683.5	20.43	13.83	441	3299.61	0.00	0.28	3.46	0.000	0.149	0.061	2006.94	2096.00	1917.88	2032.69	2167.88	0	0	0	30.00	15.90	15.94
3483.08	10919	338.94	1.30	-80.00	2005.4	2095.6	1915.2	2033.1	2168.1	6.23	5.61	479	3558.58	63.48	0.56	3.90	0.951	0.075	0.122	1641.75	1730.25	1553.25	2118.31	684.50	0	0	0	11.89	16.00	15.76
3735	end climb: NO_VERTICAL_VELOCITY
state	3735	begin surface