Glider dive log

HoodCanal 23May22 * SG235 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 18 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 6 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 6 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950.3667 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 7 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 170 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 2 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 50 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 70 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2020.5107 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 158.3329 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 16.040558 FG_AHR_24V 202.2511 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.7531 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72383 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 0 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 158.3329 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 202.2511 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 16.040558 SM_CC 590.98499

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.5 PM_PROFILE 3.0 T_DIVE 50

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2020.5107 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 70

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 2

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 2950.3667 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72383 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.023 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 18 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 6 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 170 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 0 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 6 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 230522,221717,4736.264,-12256.847,1,0.8,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,222019,4736.269,-12256.854,3,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 184.7,530,-26.7,-10.000,-29.50,1007,0.127

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,-0.037022,-0.013530,-0.069686,1.110939,-0.022572,0.014801,-0.001459,1.216694,-970.713135,-1076.446655,-114.501228

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653347234,2.6,0,stop _24V_AH 14.96,107.979

NET CACST,8,1,20220523224039.191314,06,32767,45,0163,0150,141,01,01,00,01,-1,-01,-01,1,3,11634,0,150,17.1,0.44,-100,2.56,-01,0.97,58,10000,5000,0,-1,00,00*65 _10V_AH 14.92,0.000

NET_PING 1653345611,28,1698.651001,18.799999,-0.261080 FG_AHR_24Vo 202.440

FREEZE 2.44,13.575,-1.490,0,1,0 FG_AHR_10Vo 158.367

MODEM_MSG CACST,8,0,20220523230501.240698,18,1069,24,0133,0000,216,00,00,01,02,1,025,121,0,5,1,0,150,-0.3,2.89,-100,0.11,-01,0.15,59,925,0025,0,1,00,00*28 MEM0 60148,1,0,0

SM_CCo 3104.11,266.28,1.088,0,500.3,579.1,421.4,600.92 MEM1 65508,1,0,0

SM_GC 1.46,0.00,14.44,0.44,0.000,0.052,0.084,498.2,575.2,421.1,214.1,2772.9,0,0,0,30.00,15.39,15.40 MEM2 942756,24,103692,82

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12926,437

IRIDIUM_FIX 4738.33,-12256.21,230522,221443 CAP_FILE_SIZE 352948,0

TCM_TEMP 13.93 SDSIZE 3918848,3883616

SC_FREEKB 3876768 SDFILEDIR 293,3

PM_FREEKB_00 61875264 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 0 MAGCAL 1.000000,-0.030761,0.005162,-0.076250,1.109280,-0.019614,0.010874,-0.014913,1.214861,-985.4,-1079.6,-106.8,36,0.0340,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2011,15.72,177,2016.0,15.88

HUMID 48.73 IMPLIED_C_VBD 3168,31.844009,177,3050.4

TEMP 11.64 GPS 230522,231446,4736.061,-12256.832,1,0.9,3,15.5

INTERNAL_PRESSURE 7.97512

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 656 1308 12854.23 nil 0 0 0.00

Pitch_motor 30 267 123.74 nil 0 0 0.00

Roll_motor 52 238 187.60 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 13 15 2.93 nil 0 0 0.00

Core 1793 5 137.01 SciCon 2822 6 268.46

Fast 0 0 0.00 PMAR 2830 17 746.01

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1159 0 5.54

Compass 893 5 66.66

RAFOS 859 40 513.13

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.49 16386 -66.22 -1.74 0.00 539.4 597.9 480.9 217.8 2768.6 0.00 0.00 0 101.33 84.30 0.00 0.00 0.005 0.000 0.000 2632.19 2634.50 2629.88 217.69 2767.06 0 0 0 15.60 30.00 30.00

101.63 18983 -144.01 -1.84 -80.00 2630.4 2632.2 2628.5 217.9 2765.8 3.15 -2.09 16 153.81 29.46 10.47 3.58 0.005 0.267 0.118 3536.12 3560.12 3512.12 1575.06 1280.06 0 0 0 15.92 15.77 15.85

342.27 17446 -146.63 -1.84 0.00 3538.4 3564.8 3512.0 1574.1 1280.1 18.42 -4.23 63 349.06 0.09 0.00 3.48 0.217 0.000 0.058 3547.06 3574.88 3519.25 1575.31 2769.56 0 0 0 15.98 30.00 15.92

530.20 32 -146.63 -1.84 0.00 3547.9 3575.9 3519.9 1575.1 2770.1 27.65 -7.59 99 534.74 0.00 0.00 0.00 0.000 0.000 0.000 3547.78 3576.12 3519.44 1575.25 2769.69 0 0 0 30.00 30.00 30.00

719.68 516 -146.63 -1.84 -80.00 3548.3 3575.3 3521.2 1575.2 2769.8 42.46 -8.35 136 726.46 0.00 0.00 3.56 0.000 0.000 0.114 3548.16 3577.31 3519.00 1575.06 1281.75 0 0 0 30.00 30.00 15.90

784.88 1028 -146.63 -1.84 0.00 3548.6 3576.8 3520.4 1575.3 1281.7 49.32 -11.03 149 791.61 0.00 0.00 3.48 0.000 0.000 0.060 3547.56 3576.25 3518.88 1575.06 2771.00 0 0 0 30.00 30.00 15.93

974.98 260 -146.63 -1.84 80.00 3548.2 3575.9 3520.4 1574.8 2770.7 70.20 -12.08 169 980.72 0.00 0.00 2.83 0.000 0.000 0.117 3549.88 3577.62 3522.12 1574.25 3910.69 0 0 0 30.00 30.00 15.93

1029.28 1028 -146.63 -1.84 0.00 3549.0 3576.3 3521.6 1574.4 3911.1 77.40 -13.30 180 1036.34 0.00 0.00 2.70 0.000 0.000 0.065 3548.97 3578.06 3519.88 1574.31 2724.62 0 0 0 30.00 30.00 15.96

1224.03 0 -146.63 -1.84 0.00 3547.7 3575.3 3520.0 1574.8 2725.0 101.90 -12.85 200 1225.59 0.00 0.00 0.00 0.000 0.000 0.000 3546.78 3574.25 3519.31 1574.94 2723.06 0 0 0 30.00 30.00 30.00

1414.06 260 -146.63 -1.84 80.00 3547.7 3575.6 3519.8 1575.2 2724.8 127.21 -13.48 219 1419.82 0.00 0.00 2.94 0.000 0.000 0.116 3548.44 3575.62 3521.25 1575.00 3913.06 0 0 0 30.00 30.00 15.96

1474.07 1028 -146.63 -1.84 0.00 3547.4 3575.4 3519.4 1574.4 3912.4 136.27 -15.22 231 1479.69 0.00 0.00 2.70 0.000 0.000 0.068 3547.25 3576.50 3518.00 1575.31 2726.94 0 0 0 30.00 30.00 16.00

1574 end dive: TARGET_DEPTH_EXCEEDED

state 1574 begin apogee

1575.53 10243 0.00 -0.31 0.00 3548.1 3575.9 3520.4 1574.9 2574.1 150.15 -13.77 242 1690.83 105.33 2.45 0.08 1.309 0.167 0.239 2949.09 3015.75 2882.44 1945.75 2622.69 0 0 0 12.13 15.95 15.55

1694 end apogee: CONTROL_FINISHED_OK

state 1694 begin climb

1694.63 10759 146.63 1.84 -80.00 2947.7 3014.4 2880.9 1946.1 2622.9 152.76 0.00 253 1823.70 109.37 3.36 3.61 1.263 0.094 0.128 2350.84 2431.19 2270.50 2471.56 1188.88 0 0 0 11.98 15.56 15.33

1826.46 1028 146.63 1.84 0.00 2348.7 2425.1 2272.2 2471.4 1189.1 132.78 20.75 269 1833.82 0.00 0.00 3.44 0.000 0.000 0.058 2346.78 2422.31 2271.25 2471.69 2623.25 0 0 0 30.00 30.00 15.42

2022.12 16646 146.63 1.84 80.00 2343.1 2417.6 2268.6 2471.9 2622.9 88.86 22.16 289 2028.03 0.00 0.00 3.28 0.000 0.000 0.124 2343.34 2416.94 2269.75 2471.94 3912.38 0 0 0 30.00 30.00 15.65

2112.14 17414 146.63 1.84 0.00 2341.4 2414.0 2268.8 2472.1 3910.7 68.01 22.81 307 2118.01 0.00 0.00 3.11 0.000 0.000 0.069 2339.19 2411.81 2266.56 2471.81 2576.75 0 0 0 30.00 30.00 15.73

2301.19 16646 146.63 1.84 80.00 2340.9 2413.6 2268.1 2472.1 2577.6 27.26 21.48 335 2307.85 0.00 0.00 3.35 0.000 0.000 0.118 2341.62 2415.25 2268.00 2471.94 3910.75 0 0 0 30.00 30.00 15.78

2326.26 17414 146.63 1.84 0.00 2339.9 2412.4 2267.4 2470.9 3908.7 22.12 20.49 340 2332.79 0.00 0.00 3.08 0.000 0.000 0.067 2340.66 2413.00 2268.31 2472.12 2578.25 0 0 0 30.00 30.00 15.81

2515.78 8486 207.53 1.92 80.00 2339.6 2412.2 2266.9 2471.4 2577.7 2.99 3.81 377 2569.67 45.58 0.00 3.38 1.105 0.000 0.117 2102.53 2186.88 2018.19 2472.06 3911.56 0 0 0 12.07 30.00 15.64

2798.22 11303 305.27 2.04 0.00 2094.5 2173.6 2015.4 2471.9 3911.3 2.47 0.07 433 2820.86 16.10 0.25 3.09 1.030 0.085 0.066 2023.19 2105.75 1940.62 2523.12 2575.56 0 0 0 11.94 15.79 15.80

2821 end climb: NO_VERTICAL_VELOCITY

state 2821 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	18	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	6	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	6	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950.3667	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	7	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	170	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	2	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	50	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	70	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2020.5107	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	158.3329	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	16.040558	FG_AHR_24V	202.2511	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.7531	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72383	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	0	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	230522,221717,4736.264,-12256.847,1,0.8,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,222019,4736.269,-12256.854,3,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	184.7,530,-26.7,-10.000,-29.50,1007,0.127
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.037022,-0.013530,-0.069686,1.110939,-0.022572,0.014801,-0.001459,1.216694,-970.713135,-1076.446655,-114.501228
TGT_LATLONG	4736.000,-12257.000

NAV	1653347234,2.6,0,stop	_24V_AH	14.96,107.979
NET	CACST,8,1,20220523224039.191314,06,32767,45,0163,0150,141,01,01,00,01,-1,-01,-01,1,3,11634,0,150,17.1,0.44,-100,2.56,-01,0.97,58,10000,5000,0,-1,00,00*65	_10V_AH	14.92,0.000
NET_PING	1653345611,28,1698.651001,18.799999,-0.261080	FG_AHR_24Vo	202.440
FREEZE	2.44,13.575,-1.490,0,1,0	FG_AHR_10Vo	158.367
MODEM_MSG	CACST,8,0,20220523230501.240698,18,1069,24,0133,0000,216,00,00,01,02,1,025,121,0,5,1,0,150,-0.3,2.89,-100,0.11,-01,0.15,59,925,0025,0,1,00,00*28	MEM0	60148,1,0,0
SM_CCo	3104.11,266.28,1.088,0,500.3,579.1,421.4,600.92	MEM1	65508,1,0,0
SM_GC	1.46,0.00,14.44,0.44,0.000,0.052,0.084,498.2,575.2,421.1,214.1,2772.9,0,0,0,30.00,15.39,15.40	MEM2	942756,24,103692,82
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12926,437
IRIDIUM_FIX	4738.33,-12256.21,230522,221443	CAP_FILE_SIZE	352948,0
TCM_TEMP	13.93	SDSIZE	3918848,3883616
SC_FREEKB	3876768	SDFILEDIR	293,3
PM_FREEKB_00	61875264	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	0	MAGCAL	1.000000,-0.030761,0.005162,-0.076250,1.109280,-0.019614,0.010874,-0.014913,1.214861,-985.4,-1079.6,-106.8,36,0.0340,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2011,15.72,177,2016.0,15.88
HUMID	48.73	IMPLIED_C_VBD	3168,31.844009,177,3050.4
TEMP	11.64	GPS	230522,231446,4736.061,-12256.832,1,0.9,3,15.5
INTERNAL_PRESSURE	7.97512

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	656	1308	12854.23	nil	0	0	0.00
Pitch_motor	30	267	123.74	nil	0	0	0.00
Roll_motor	52	238	187.60	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	13	15	2.93	nil	0	0	0.00
Core	1793	5	137.01	SciCon	2822	6	268.46
Fast	0	0	0.00	PMAR	2830	17	746.01
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1159	0	5.54
Compass	893	5	66.66
RAFOS	859	40	513.13
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.49	16386	-66.22	-1.74	0.00	539.4	597.9	480.9	217.8	2768.6	0.00	0.00	0	101.33	84.30	0.00	0.00	0.005	0.000	0.000	2632.19	2634.50	2629.88	217.69	2767.06	0	0	0	15.60	30.00	30.00
101.63	18983	-144.01	-1.84	-80.00	2630.4	2632.2	2628.5	217.9	2765.8	3.15	-2.09	16	153.81	29.46	10.47	3.58	0.005	0.267	0.118	3536.12	3560.12	3512.12	1575.06	1280.06	0	0	0	15.92	15.77	15.85
342.27	17446	-146.63	-1.84	0.00	3538.4	3564.8	3512.0	1574.1	1280.1	18.42	-4.23	63	349.06	0.09	0.00	3.48	0.217	0.000	0.058	3547.06	3574.88	3519.25	1575.31	2769.56	0	0	0	15.98	30.00	15.92
530.20	32	-146.63	-1.84	0.00	3547.9	3575.9	3519.9	1575.1	2770.1	27.65	-7.59	99	534.74	0.00	0.00	0.00	0.000	0.000	0.000	3547.78	3576.12	3519.44	1575.25	2769.69	0	0	0	30.00	30.00	30.00
719.68	516	-146.63	-1.84	-80.00	3548.3	3575.3	3521.2	1575.2	2769.8	42.46	-8.35	136	726.46	0.00	0.00	3.56	0.000	0.000	0.114	3548.16	3577.31	3519.00	1575.06	1281.75	0	0	0	30.00	30.00	15.90
784.88	1028	-146.63	-1.84	0.00	3548.6	3576.8	3520.4	1575.3	1281.7	49.32	-11.03	149	791.61	0.00	0.00	3.48	0.000	0.000	0.060	3547.56	3576.25	3518.88	1575.06	2771.00	0	0	0	30.00	30.00	15.93
974.98	260	-146.63	-1.84	80.00	3548.2	3575.9	3520.4	1574.8	2770.7	70.20	-12.08	169	980.72	0.00	0.00	2.83	0.000	0.000	0.117	3549.88	3577.62	3522.12	1574.25	3910.69	0	0	0	30.00	30.00	15.93
1029.28	1028	-146.63	-1.84	0.00	3549.0	3576.3	3521.6	1574.4	3911.1	77.40	-13.30	180	1036.34	0.00	0.00	2.70	0.000	0.000	0.065	3548.97	3578.06	3519.88	1574.31	2724.62	0	0	0	30.00	30.00	15.96
1224.03	0	-146.63	-1.84	0.00	3547.7	3575.3	3520.0	1574.8	2725.0	101.90	-12.85	200	1225.59	0.00	0.00	0.00	0.000	0.000	0.000	3546.78	3574.25	3519.31	1574.94	2723.06	0	0	0	30.00	30.00	30.00
1414.06	260	-146.63	-1.84	80.00	3547.7	3575.6	3519.8	1575.2	2724.8	127.21	-13.48	219	1419.82	0.00	0.00	2.94	0.000	0.000	0.116	3548.44	3575.62	3521.25	1575.00	3913.06	0	0	0	30.00	30.00	15.96
1474.07	1028	-146.63	-1.84	0.00	3547.4	3575.4	3519.4	1574.4	3912.4	136.27	-15.22	231	1479.69	0.00	0.00	2.70	0.000	0.000	0.068	3547.25	3576.50	3518.00	1575.31	2726.94	0	0	0	30.00	30.00	16.00
1574	end dive: TARGET_DEPTH_EXCEEDED
state	1574	begin apogee
1575.53	10243	0.00	-0.31	0.00	3548.1	3575.9	3520.4	1574.9	2574.1	150.15	-13.77	242	1690.83	105.33	2.45	0.08	1.309	0.167	0.239	2949.09	3015.75	2882.44	1945.75	2622.69	0	0	0	12.13	15.95	15.55
1694	end apogee: CONTROL_FINISHED_OK
state	1694	begin climb
1694.63	10759	146.63	1.84	-80.00	2947.7	3014.4	2880.9	1946.1	2622.9	152.76	0.00	253	1823.70	109.37	3.36	3.61	1.263	0.094	0.128	2350.84	2431.19	2270.50	2471.56	1188.88	0	0	0	11.98	15.56	15.33
1826.46	1028	146.63	1.84	0.00	2348.7	2425.1	2272.2	2471.4	1189.1	132.78	20.75	269	1833.82	0.00	0.00	3.44	0.000	0.000	0.058	2346.78	2422.31	2271.25	2471.69	2623.25	0	0	0	30.00	30.00	15.42
2022.12	16646	146.63	1.84	80.00	2343.1	2417.6	2268.6	2471.9	2622.9	88.86	22.16	289	2028.03	0.00	0.00	3.28	0.000	0.000	0.124	2343.34	2416.94	2269.75	2471.94	3912.38	0	0	0	30.00	30.00	15.65
2112.14	17414	146.63	1.84	0.00	2341.4	2414.0	2268.8	2472.1	3910.7	68.01	22.81	307	2118.01	0.00	0.00	3.11	0.000	0.000	0.069	2339.19	2411.81	2266.56	2471.81	2576.75	0	0	0	30.00	30.00	15.73
2301.19	16646	146.63	1.84	80.00	2340.9	2413.6	2268.1	2472.1	2577.6	27.26	21.48	335	2307.85	0.00	0.00	3.35	0.000	0.000	0.118	2341.62	2415.25	2268.00	2471.94	3910.75	0	0	0	30.00	30.00	15.78
2326.26	17414	146.63	1.84	0.00	2339.9	2412.4	2267.4	2470.9	3908.7	22.12	20.49	340	2332.79	0.00	0.00	3.08	0.000	0.000	0.067	2340.66	2413.00	2268.31	2472.12	2578.25	0	0	0	30.00	30.00	15.81
2515.78	8486	207.53	1.92	80.00	2339.6	2412.2	2266.9	2471.4	2577.7	2.99	3.81	377	2569.67	45.58	0.00	3.38	1.105	0.000	0.117	2102.53	2186.88	2018.19	2472.06	3911.56	0	0	0	12.07	30.00	15.64
2798.22	11303	305.27	2.04	0.00	2094.5	2173.6	2015.4	2471.9	3911.3	2.47	0.07	433	2820.86	16.10	0.25	3.09	1.030	0.085	0.066	2023.19	2105.75	1940.62	2523.12	2575.56	0	0	0	11.94	15.79	15.80
2821	end climb: NO_VERTICAL_VELOCITY
state	2821	begin surface