Glider dive log

HoodCanal May22 * SG240 * Dive index * Mission links * Dive 6 * 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 6 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 6 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 7 C_VBD 3000.1284 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 1757.1992 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 18.334127 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 14.788808 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 3.9905524 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 6 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 14.788808 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.9905524 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 18.334127 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 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 1757.1992 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 3000.1284 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 6 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 230522,221751,4736.251,-12257.062,1,0.6,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,222036,4736.256,-12257.067,2,0.7,4,15.5 MHEAD_RNG_PITCHd_Wd 169.5,481,-25.7,-10.000,-28.55,1086,0.135

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME S IRON 1.000000,0.011903,-0.069873,-0.040366,1.090233,0.020570,0.053222,-0.091094,1.063762,120.737556,-952.920654,-473.488556

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653347231,3.6,0,stop FG_AHR_24Vo 4.143

NET CACST,8,1,20220523223822.969751,06,32767,45,0225,0150,07,01,01,00,01,-1,-01,-01,1,3,-16366,0,150,19.8,0.63,-100,2.37,-01,2.17,48,10000,5000,0,-1,00,00*7E FG_AHR_10Vo 14.810

FREEZE 3.48,11.480,-1.537,0,1,0 MEM0 60148,1,0,0

SM_CCo 3208.61,301.71,0.923,0,500.8,523.6,478.1,613.04 MEM1 65508,1,0,0

SM_GC 1.37,0.00,12.61,3.48,0.000,0.067,0.061,498.1,520.6,475.7,193.7,2169.9,0,0,0,30.00,15.60,15.61 MEM2 944420,39,102128,62

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12912,441

IRIDIUM_FIX 4736.00,-12258.89,230522,221351 CAP_FILE_SIZE 332454,0

TCM_TEMP 17.95 SDSIZE 3887104,3872576

SC_FREEKB 3876864 SDFILEDIR 77,1

RAFOS_CLK 1 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 49.79 CURRENT 0.044, 56.3,1

TEMP 10.92 MAGCAL 1.000000,0.000440,-0.038935,-0.008693,1.104322,-0.062500,-0.000986,-0.071447,1.114776,88.1,-909.0,-499.3,32,0.0320,1

INTERNAL_PRESSURE 8.01158 IMPLIED_C_PITCH 1798,18.52,210,1777.6,18.43

_24V_AH 15.10,4.940 IMPLIED_C_VBD 3111,43.142040,210,3055.6

_10V_AH 15.00,0.000 GPS 230522,231655,4736.005,-12257.086,1,1.2,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 621 1095 10290.11 nil 0 0 0.00

Pitch_motor 29 252 112.75 nil 0 0 0.00

Roll_motor 63 210 202.23 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 3.01 nil 0 0 0.00

Core 1757 5 134.94 SciCon 2893 6 282.59

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1280 0 6.15

Compass 894 5 67.12

RAFOS 862 40 517.54

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

6.60 16386 -71.48 -1.49 0.00 497.5 517.2 477.9 187.6 2169.9 0.00 0.00 0 76.38 66.33 0.00 0.00 0.005 0.000 0.000 2475.84 2512.19 2439.50 187.75 2169.38 0 0 0 16.09 30.00 30.00

76.74 18983 -142.54 -1.57 -80.00 2474.0 2509.9 2438.1 187.6 2168.7 3.30 -3.31 13 133.57 32.17 8.85 3.69 0.005 0.252 0.114 3581.12 3636.38 3525.88 1375.44 682.19 0 0 0 16.08 15.92 16.00

252.10 3237 -142.93 -1.35 0.00 3581.9 3635.0 3528.8 1375.1 681.8 19.86 -9.96 47 258.95 0.00 0.40 3.37 0.000 0.211 0.057 3583.22 3634.94 3531.50 1429.81 2176.50 0 0 0 30.00 15.97 16.06

440.71 16806 -146.63 -1.32 80.00 3582.7 3635.4 3529.9 1430.0 2176.7 32.57 -7.05 84 447.45 0.10 0.00 3.46 0.226 0.000 0.124 3597.69 3651.69 3543.69 1429.88 3617.69 0 0 0 16.16 30.00 16.04

490.13 3237 -146.63 -1.15 0.00 3597.5 3651.7 3543.3 1429.7 3618.1 36.76 -8.68 92 497.14 0.00 0.32 3.42 0.000 0.203 0.054 3599.00 3653.00 3545.00 1477.50 2116.56 0 0 0 30.00 15.98 16.07

685.67 676 -146.63 -1.20 -80.00 3598.0 3651.9 3544.2 1477.6 2117.1 53.05 -9.14 128 692.66 0.00 0.00 3.55 0.000 0.000 0.118 3599.19 3652.44 3545.94 1477.50 682.00 0 0 0 30.00 30.00 16.03

731.17 1156 -146.63 -1.14 0.00 3598.2 3651.8 3544.7 1477.6 682.1 58.10 -11.44 137 737.07 0.00 0.00 3.35 0.000 0.000 0.057 3598.59 3651.75 3545.44 1477.25 2172.00 0 0 0 30.00 30.00 16.06

921.19 388 -146.63 -1.19 80.00 3598.3 3651.2 3545.4 1477.1 2171.5 78.59 -11.35 157 927.12 0.00 0.00 3.48 0.000 0.000 0.124 3599.25 3652.25 3546.25 1475.69 3616.69 0 0 0 30.00 30.00 16.06

965.47 1156 -146.63 -1.14 0.00 3598.8 3651.8 3545.8 1477.8 3616.6 84.54 -13.66 166 972.88 0.00 0.00 3.42 0.000 0.000 0.056 3598.66 3651.25 3546.06 1477.94 2120.75 0 0 0 30.00 30.00 16.10

1155.32 128 -146.63 -1.20 0.00 3598.8 3651.5 3546.1 1477.6 2120.7 107.08 -12.02 186 1156.89 0.00 0.00 0.00 0.000 0.000 0.000 3598.16 3651.50 3544.81 1478.12 2121.12 0 0 0 30.00 30.00 30.00

1345.23 4485 -146.63 -1.28 80.00 3598.3 3651.0 3545.6 1477.9 2120.8 129.98 -12.32 205 1352.54 0.00 0.26 3.61 0.000 0.078 0.122 3598.69 3650.38 3547.00 1428.25 3616.00 0 0 0 30.00 16.13 16.10

1451.05 3205 -146.63 -1.16 0.00 3598.6 3651.9 3545.3 1428.4 3615.6 148.14 -17.82 226 1458.30 0.00 0.38 3.40 0.000 0.195 0.057 3597.50 3649.94 3545.06 1476.69 2122.56 0 0 0 30.00 16.08 16.14

1466 end dive: TARGET_DEPTH_EXCEEDED

state 1466 begin apogee

1467.28 10243 0.00 -0.27 0.00 3599.1 3652.0 3546.2 1475.9 2175.8 150.55 -16.57 228 1576.13 101.51 1.48 0.09 1.096 0.167 0.210 2997.31 3053.31 2941.31 1692.62 2119.88 0 0 0 11.91 16.07 15.79

1577 end apogee: CONTROL_FINISHED_OK

state 1577 begin climb

1577.33 10243 146.63 1.58 0.00 2998.0 3054.8 2941.2 1692.4 2120.0 155.65 0.00 238 1693.19 104.25 3.05 0.00 1.072 0.129 0.000 2399.59 2465.00 2334.19 2140.12 2119.81 0 0 0 11.80 15.77 30.00

1875.57 516 146.63 1.58 -80.00 2395.8 2465.7 2325.9 2139.2 2119.9 115.27 16.81 270 1882.74 0.00 0.00 3.64 0.000 0.000 0.126 2396.88 2467.44 2326.31 2139.31 683.06 0 0 0 30.00 30.00 15.76

1925.49 21639 146.63 1.45 0.00 2393.6 2462.4 2324.8 2139.5 683.1 105.47 19.93 280 1933.17 0.00 0.34 3.44 0.000 0.189 0.063 2395.06 2464.25 2325.88 2100.19 2167.75 0 0 0 30.00 15.78 15.83

2121.23 19079 146.63 1.56 -80.00 2392.6 2462.8 2322.5 2102.3 2167.6 77.71 13.57 300 2128.59 0.00 0.26 3.73 0.000 0.073 0.125 2393.19 2463.12 2323.25 2148.31 683.12 0 0 0 30.00 15.93 15.89

2197.08 21639 146.63 1.42 0.00 2392.1 2462.5 2321.7 2148.5 683.3 64.25 18.58 315 2204.43 0.00 0.46 3.41 0.000 0.191 0.063 2390.91 2461.50 2320.31 2094.81 2170.00 0 0 0 30.00 15.90 15.95

2388.13 19079 146.63 1.57 -80.00 2392.0 2462.6 2321.4 2094.2 2168.9 39.84 11.81 342 2395.24 0.00 0.33 3.77 0.000 0.069 0.121 2391.47 2461.94 2321.00 2150.44 684.38 0 0 0 30.00 15.99 15.94

2458.72 21639 146.63 1.45 0.00 2391.5 2462.0 2321.1 2150.3 684.2 28.05 18.08 356 2465.72 0.00 0.41 3.40 0.000 0.183 0.061 2391.72 2462.69 2320.75 2101.12 2170.19 0 0 0 30.00 15.93 15.99

2649.21 10919 166.83 1.67 -80.00 2391.5 2462.4 2320.6 2101.6 2170.9 6.97 8.10 394 2673.23 15.73 0.44 3.76 0.885 0.067 0.119 2314.94 2387.44 2242.44 2174.12 682.12 0 0 0 11.88 16.02 15.92

2891 end climb: NO_VERTICAL_VELOCITY

state 2891 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	6	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	6	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	7	C_VBD	3000.1284	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	1757.1992	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	18.334127	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	14.788808	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	3.9905524	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	230522,221751,4736.251,-12257.062,1,0.6,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,222036,4736.256,-12257.067,2,0.7,4,15.5	MHEAD_RNG_PITCHd_Wd	169.5,481,-25.7,-10.000,-28.55,1086,0.135
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.011903,-0.069873,-0.040366,1.090233,0.020570,0.053222,-0.091094,1.063762,120.737556,-952.920654,-473.488556
TGT_LATLONG	4736.000,-12257.000

NAV	1653347231,3.6,0,stop	FG_AHR_24Vo	4.143
NET	CACST,8,1,20220523223822.969751,06,32767,45,0225,0150,07,01,01,00,01,-1,-01,-01,1,3,-16366,0,150,19.8,0.63,-100,2.37,-01,2.17,48,10000,5000,0,-1,00,00*7E	FG_AHR_10Vo	14.810
FREEZE	3.48,11.480,-1.537,0,1,0	MEM0	60148,1,0,0
SM_CCo	3208.61,301.71,0.923,0,500.8,523.6,478.1,613.04	MEM1	65508,1,0,0
SM_GC	1.37,0.00,12.61,3.48,0.000,0.067,0.061,498.1,520.6,475.7,193.7,2169.9,0,0,0,30.00,15.60,15.61	MEM2	944420,39,102128,62
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12912,441
IRIDIUM_FIX	4736.00,-12258.89,230522,221351	CAP_FILE_SIZE	332454,0
TCM_TEMP	17.95	SDSIZE	3887104,3872576
SC_FREEKB	3876864	SDFILEDIR	77,1
RAFOS_CLK	1	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	49.79	CURRENT	0.044, 56.3,1
TEMP	10.92	MAGCAL	1.000000,0.000440,-0.038935,-0.008693,1.104322,-0.062500,-0.000986,-0.071447,1.114776,88.1,-909.0,-499.3,32,0.0320,1
INTERNAL_PRESSURE	8.01158	IMPLIED_C_PITCH	1798,18.52,210,1777.6,18.43
_24V_AH	15.10,4.940	IMPLIED_C_VBD	3111,43.142040,210,3055.6
_10V_AH	15.00,0.000	GPS	230522,231655,4736.005,-12257.086,1,1.2,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	621	1095	10290.11	nil	0	0	0.00
Pitch_motor	29	252	112.75	nil	0	0	0.00
Roll_motor	63	210	202.23	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	3.01	nil	0	0	0.00
Core	1757	5	134.94	SciCon	2893	6	282.59
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1280	0	6.15
Compass	894	5	67.12
RAFOS	862	40	517.54
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
6.60	16386	-71.48	-1.49	0.00	497.5	517.2	477.9	187.6	2169.9	0.00	0.00	0	76.38	66.33	0.00	0.00	0.005	0.000	0.000	2475.84	2512.19	2439.50	187.75	2169.38	0	0	0	16.09	30.00	30.00
76.74	18983	-142.54	-1.57	-80.00	2474.0	2509.9	2438.1	187.6	2168.7	3.30	-3.31	13	133.57	32.17	8.85	3.69	0.005	0.252	0.114	3581.12	3636.38	3525.88	1375.44	682.19	0	0	0	16.08	15.92	16.00
252.10	3237	-142.93	-1.35	0.00	3581.9	3635.0	3528.8	1375.1	681.8	19.86	-9.96	47	258.95	0.00	0.40	3.37	0.000	0.211	0.057	3583.22	3634.94	3531.50	1429.81	2176.50	0	0	0	30.00	15.97	16.06
440.71	16806	-146.63	-1.32	80.00	3582.7	3635.4	3529.9	1430.0	2176.7	32.57	-7.05	84	447.45	0.10	0.00	3.46	0.226	0.000	0.124	3597.69	3651.69	3543.69	1429.88	3617.69	0	0	0	16.16	30.00	16.04
490.13	3237	-146.63	-1.15	0.00	3597.5	3651.7	3543.3	1429.7	3618.1	36.76	-8.68	92	497.14	0.00	0.32	3.42	0.000	0.203	0.054	3599.00	3653.00	3545.00	1477.50	2116.56	0	0	0	30.00	15.98	16.07
685.67	676	-146.63	-1.20	-80.00	3598.0	3651.9	3544.2	1477.6	2117.1	53.05	-9.14	128	692.66	0.00	0.00	3.55	0.000	0.000	0.118	3599.19	3652.44	3545.94	1477.50	682.00	0	0	0	30.00	30.00	16.03
731.17	1156	-146.63	-1.14	0.00	3598.2	3651.8	3544.7	1477.6	682.1	58.10	-11.44	137	737.07	0.00	0.00	3.35	0.000	0.000	0.057	3598.59	3651.75	3545.44	1477.25	2172.00	0	0	0	30.00	30.00	16.06
921.19	388	-146.63	-1.19	80.00	3598.3	3651.2	3545.4	1477.1	2171.5	78.59	-11.35	157	927.12	0.00	0.00	3.48	0.000	0.000	0.124	3599.25	3652.25	3546.25	1475.69	3616.69	0	0	0	30.00	30.00	16.06
965.47	1156	-146.63	-1.14	0.00	3598.8	3651.8	3545.8	1477.8	3616.6	84.54	-13.66	166	972.88	0.00	0.00	3.42	0.000	0.000	0.056	3598.66	3651.25	3546.06	1477.94	2120.75	0	0	0	30.00	30.00	16.10
1155.32	128	-146.63	-1.20	0.00	3598.8	3651.5	3546.1	1477.6	2120.7	107.08	-12.02	186	1156.89	0.00	0.00	0.00	0.000	0.000	0.000	3598.16	3651.50	3544.81	1478.12	2121.12	0	0	0	30.00	30.00	30.00
1345.23	4485	-146.63	-1.28	80.00	3598.3	3651.0	3545.6	1477.9	2120.8	129.98	-12.32	205	1352.54	0.00	0.26	3.61	0.000	0.078	0.122	3598.69	3650.38	3547.00	1428.25	3616.00	0	0	0	30.00	16.13	16.10
1451.05	3205	-146.63	-1.16	0.00	3598.6	3651.9	3545.3	1428.4	3615.6	148.14	-17.82	226	1458.30	0.00	0.38	3.40	0.000	0.195	0.057	3597.50	3649.94	3545.06	1476.69	2122.56	0	0	0	30.00	16.08	16.14
1466	end dive: TARGET_DEPTH_EXCEEDED
state	1466	begin apogee
1467.28	10243	0.00	-0.27	0.00	3599.1	3652.0	3546.2	1475.9	2175.8	150.55	-16.57	228	1576.13	101.51	1.48	0.09	1.096	0.167	0.210	2997.31	3053.31	2941.31	1692.62	2119.88	0	0	0	11.91	16.07	15.79
1577	end apogee: CONTROL_FINISHED_OK
state	1577	begin climb
1577.33	10243	146.63	1.58	0.00	2998.0	3054.8	2941.2	1692.4	2120.0	155.65	0.00	238	1693.19	104.25	3.05	0.00	1.072	0.129	0.000	2399.59	2465.00	2334.19	2140.12	2119.81	0	0	0	11.80	15.77	30.00
1875.57	516	146.63	1.58	-80.00	2395.8	2465.7	2325.9	2139.2	2119.9	115.27	16.81	270	1882.74	0.00	0.00	3.64	0.000	0.000	0.126	2396.88	2467.44	2326.31	2139.31	683.06	0	0	0	30.00	30.00	15.76
1925.49	21639	146.63	1.45	0.00	2393.6	2462.4	2324.8	2139.5	683.1	105.47	19.93	280	1933.17	0.00	0.34	3.44	0.000	0.189	0.063	2395.06	2464.25	2325.88	2100.19	2167.75	0	0	0	30.00	15.78	15.83
2121.23	19079	146.63	1.56	-80.00	2392.6	2462.8	2322.5	2102.3	2167.6	77.71	13.57	300	2128.59	0.00	0.26	3.73	0.000	0.073	0.125	2393.19	2463.12	2323.25	2148.31	683.12	0	0	0	30.00	15.93	15.89
2197.08	21639	146.63	1.42	0.00	2392.1	2462.5	2321.7	2148.5	683.3	64.25	18.58	315	2204.43	0.00	0.46	3.41	0.000	0.191	0.063	2390.91	2461.50	2320.31	2094.81	2170.00	0	0	0	30.00	15.90	15.95
2388.13	19079	146.63	1.57	-80.00	2392.0	2462.6	2321.4	2094.2	2168.9	39.84	11.81	342	2395.24	0.00	0.33	3.77	0.000	0.069	0.121	2391.47	2461.94	2321.00	2150.44	684.38	0	0	0	30.00	15.99	15.94
2458.72	21639	146.63	1.45	0.00	2391.5	2462.0	2321.1	2150.3	684.2	28.05	18.08	356	2465.72	0.00	0.41	3.40	0.000	0.183	0.061	2391.72	2462.69	2320.75	2101.12	2170.19	0	0	0	30.00	15.93	15.99
2649.21	10919	166.83	1.67	-80.00	2391.5	2462.4	2320.6	2101.6	2170.9	6.97	8.10	394	2673.23	15.73	0.44	3.76	0.885	0.067	0.119	2314.94	2387.44	2242.44	2174.12	682.12	0	0	0	11.88	16.02	15.92
2891	end climb: NO_VERTICAL_VELOCITY
state	2891	begin surface