Glider dive log

HoodCanal 21May22 * SG241 * Dive index * Mission links * Dive 6 * 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 4 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 -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 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18.340378 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.610996 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 24.258631 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 -188.51822 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 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 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 18.610996 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 24.258631 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 18.340378 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 -188.51822 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 3 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 6 MISSION 4 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 210522,212600,4737.035,-12256.474,4,2.0,9,15.5 TGT_RADIUS 300.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -55.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,213407,4736.997,-12256.517,2,1.2,4,15.5 MHEAD_RNG_PITCHd_Wd 184.2,1942,-17.1,-9.697,-20.82,2278,0.123

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.883667,-1287.684814,-265.922333

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653172651,1.7,0,stop FG_AHR_24Vo 24.425

NET CAXST,7,20220521,222009.722017,3,0,200,5000,10000,1,241,235,0,0,1,5,0,10000*54 FG_AHR_10Vo 18.648

NET_PING 1653170415,25,1781.133057,16.900000,0.952158 MEM0 60148,1,0,0

FINISH 1.8,1.021019 MEM1 65508,1,0,0

SM_CCo 3773.61,238.49,0.911,0,541.7,612.1,471.2,603.03 MEM2 944748,29,101960,64

SM_GC 1.56,238.49,11.70,0.10,0.911,0.095,0.145,541.7,612.1,471.2,190.9,2186.8,0,0,0,11.68,15.84,15.88 DATA_FILE_SIZE 12963,488

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 289582,0

IRIDIUM_FIX 4737.86,-12251.79,210522,201759 SDSIZE 3887104,3872192

TCM_TEMP 12.75 SDFILEDIR 77,1

SC_FREEKB 3876864 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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.008,305.5,1

HUMID 48.16 MAGCAL 1.000000,0.008146,0.051404,-0.002607,1.063037,-0.042332,-0.025824,-0.021322,1.024913,427.4,-1284.5,-255.5,29,0.0281,0

TEMP 10.31 IMPLIED_C_PITCH 1753,18.66,280,1726.6,18.50

INTERNAL_PRESSURE 8.08169 IMPLIED_C_VBD 2924,23.743254,280,2962.2

_24V_AH 14.76,4.370 GPS 210522,223813,4736.625,-12256.701,20,1.5,24,15.5

_10V_AH 14.81,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 683 1110 11193.93 nil 0 0 0.00

Pitch_motor 27 276 111.25 nil 0 0 0.00

Roll_motor 64 172 163.06 nil 0 0 0.00

Iridium 246 218 792.73 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.00 nil 0 0 0.00

Core 2095 5 158.91 SciCon 3519 6 358.93

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1903 0 9.02

Compass 985 5 73.01

RAFOS 2307 40 1367.20

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

6.49 16386 -146.63 -1.11 0.00 536.2 610.5 462.0 193.7 2109.3 0.00 0.00 0 115.70 106.58 0.00 0.00 0.005 0.000 0.000 2883.25 2852.56 2913.94 193.44 2109.38 0 0 0 15.91 30.00 30.00

115.93 18983 -146.63 -1.11 -80.00 2881.7 2850.9 2912.5 193.6 2109.1 3.36 -1.77 21 156.94 20.83 9.94 3.52 0.006 0.277 0.118 3596.97 3587.50 3606.44 1430.06 682.12 0 0 0 15.94 15.78 15.86

382.49 3205 -146.63 -0.82 0.00 3598.6 3594.0 3603.2 1429.9 682.0 44.94 -15.78 74 388.24 0.00 0.53 3.40 0.000 0.207 0.050 3598.59 3594.56 3602.62 1503.31 2175.94 0 0 0 30.00 15.88 15.97

577.50 420 -146.63 -0.77 80.00 3598.7 3596.3 3601.1 1503.6 2175.4 65.40 -9.67 98 582.39 0.00 0.00 3.48 0.000 0.000 0.112 3598.69 3595.69 3601.69 1503.62 3617.56 0 0 0 30.00 30.00 15.98

627.50 3205 -146.63 -0.66 0.00 3598.7 3596.2 3601.2 1503.2 3617.8 71.09 -11.75 108 632.52 0.00 0.26 3.43 0.000 0.185 0.051 3599.91 3597.06 3602.75 1541.38 2118.00 0 0 0 30.00 15.95 16.01

817.52 420 -146.63 -0.71 80.00 3599.7 3597.9 3601.4 1541.3 2116.9 86.88 -7.96 128 822.45 0.00 0.00 3.65 0.000 0.000 0.112 3598.91 3596.69 3601.12 1540.94 3617.06 0 0 0 30.00 30.00 16.00

861.79 1060 -146.63 -0.71 0.00 3599.4 3597.8 3601.1 1541.1 3617.8 91.03 -9.36 137 868.15 0.00 0.00 3.42 0.000 0.000 0.051 3599.84 3597.75 3601.94 1541.06 2117.62 0 0 0 30.00 30.00 16.06

1057.54 4257 -146.63 -0.77 0.00 3599.5 3597.6 3601.5 1541.6 2116.5 106.70 -8.17 157 1059.02 0.00 0.27 0.00 0.000 0.093 0.000 3598.84 3597.25 3600.44 1500.62 2116.62 0 0 0 30.00 16.05 30.00

1247.52 260 -146.63 -0.77 80.00 3599.8 3598.2 3601.4 1500.6 2117.1 125.77 -10.17 176 1252.47 0.00 0.00 3.63 0.000 0.000 0.111 3600.44 3598.75 3602.12 1500.44 3617.31 0 0 0 30.00 30.00 16.06

1351.81 3205 -146.63 -0.68 0.00 3599.6 3598.0 3601.2 1499.8 3617.7 137.90 -11.49 197 1358.24 0.00 0.30 3.41 0.000 0.179 0.053 3600.28 3598.25 3602.31 1536.00 2119.12 0 0 0 30.00 16.05 16.11

1538.82 420 -146.63 -0.74 80.00 3599.8 3597.9 3601.8 1535.8 2119.4 153.52 -8.20 215 1543.72 0.00 0.00 3.65 0.000 0.000 0.112 3599.44 3597.69 3601.19 1536.00 3617.25 0 0 0 30.00 30.00 16.05

1598.79 1028 -146.63 -0.74 0.00 3599.7 3598.6 3600.8 1536.4 3617.9 159.29 -9.73 227 1603.71 0.00 0.00 3.41 0.000 0.000 0.052 3600.34 3599.38 3601.31 1536.75 2119.25 0 0 0 30.00 30.00 16.09

1609 end dive: TARGET_DEPTH_EXCEEDED

state 1609 begin apogee

1609.94 10243 0.00 -0.27 0.00 3599.6 3598.2 3600.9 1536.6 2182.9 160.26 -9.65 229 1724.10 111.06 0.68 0.10 1.110 0.160 0.172 2998.84 3051.31 2946.38 1634.19 2113.75 0 0 0 11.74 16.03 15.69

1725 end apogee: CONTROL_FINISHED_OK

state 1725 begin climb

1724.96 10243 146.63 1.11 0.00 2998.7 3051.1 2946.3 1634.1 2114.7 165.50 0.00 240 1844.47 114.57 2.39 0.00 1.063 0.141 0.000 2400.06 2469.06 2331.06 1971.12 2114.38 0 0 0 11.56 15.66 30.00

2028.82 8486 158.60 1.13 80.00 2396.2 2460.1 2332.3 1970.8 2114.1 142.27 9.16 271 2045.08 11.12 0.00 3.77 0.900 0.000 0.117 2353.06 2418.62 2287.50 1970.88 3614.75 0 0 0 11.61 30.00 15.66

2093.84 1156 158.60 1.03 0.00 2350.5 2415.1 2285.9 1970.2 3615.1 135.24 11.55 284 2098.74 0.00 0.00 3.49 0.000 0.000 0.053 2350.81 2414.88 2286.75 1971.00 2119.94 0 0 0 30.00 30.00 15.73

2283.83 0 158.60 1.03 0.00 2350.2 2414.4 2286.1 1970.9 2119.4 115.78 10.31 304 2285.16 0.00 0.00 0.00 0.000 0.000 0.000 2349.94 2414.12 2285.75 1970.69 2119.62 0 0 0 30.00 30.00 30.00

2473.90 260 158.60 1.03 80.00 2349.8 2413.2 2286.4 1971.1 2119.4 96.65 9.86 323 2478.80 0.00 0.00 3.70 0.000 0.000 0.115 2350.22 2413.50 2286.94 1970.94 3614.88 0 0 0 30.00 30.00 15.86

2538.15 5253 158.60 0.93 0.00 2348.7 2410.9 2286.5 1970.8 3615.2 89.65 11.25 336 2544.62 0.00 0.41 3.44 0.000 0.166 0.053 2349.00 2411.44 2286.56 1918.62 2120.06 0 0 0 30.00 15.83 15.90

2728.64 10403 223.34 1.14 0.00 2348.5 2410.1 2287.0 1918.5 2120.2 76.80 6.79 355 2780.97 50.73 0.42 0.00 1.007 0.081 0.000 2090.47 2172.81 2008.12 1983.81 2119.75 0 0 0 11.72 15.90 30.00

2964.07 388 223.34 1.19 80.00 2085.0 2163.8 2006.2 1982.6 2119.6 51.53 10.80 379 2969.03 0.00 0.00 3.71 0.000 0.000 0.115 2084.78 2163.50 2006.06 1983.88 3615.75 0 0 0 30.00 30.00 15.83

2994.06 1028 223.34 1.19 0.00 2082.9 2160.1 2005.8 1983.5 3616.7 48.16 10.99 385 2999.71 0.00 0.00 3.45 0.000 0.000 0.051 2083.94 2161.25 2006.62 1982.06 2121.38 0 0 0 30.00 30.00 15.86

3184.11 128 223.34 1.24 0.00 2083.2 2160.2 2006.1 1984.1 2120.8 29.17 9.96 423 3188.22 0.00 0.00 0.00 0.000 0.000 0.000 2083.31 2160.25 2006.38 1983.94 2121.00 0 0 0 30.00 30.00 30.00

3371.48 10663 259.94 1.38 80.00 2082.5 2158.9 2006.1 1984.1 2120.4 12.06 8.05 460 3407.85 28.73 0.31 3.70 0.938 0.082 0.115 1939.09 2025.50 1852.69 2040.94 3617.00 0 0 0 11.69 15.93 15.83

3501.48 9254 342.12 1.48 0.00 1935.3 2018.1 1852.6 2040.0 3617.6 2.24 6.01 486 3507.19 1.13 0.00 3.45 0.141 0.000 0.050 1935.59 2017.69 1853.50 2041.38 2116.94 0 0 0 15.82 30.00 15.89

3507 end climb: SURFACE_DEPTH_REACHED

state 3507 begin surface coast

3511 end surface coast: CONTROL_FINISHED_OK

state 3511 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	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	-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	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18.340378	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.610996	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	24.258631	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	-188.51822	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	210522,212600,4737.035,-12256.474,4,2.0,9,15.5	TGT_RADIUS	300.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,213407,4736.997,-12256.517,2,1.2,4,15.5	MHEAD_RNG_PITCHd_Wd	184.2,1942,-17.1,-9.697,-20.82,2278,0.123
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.883667,-1287.684814,-265.922333
TGT_LATLONG	4736.000,-12257.000

NAV	1653172651,1.7,0,stop	FG_AHR_24Vo	24.425
NET	CAXST,7,20220521,222009.722017,3,0,200,5000,10000,1,241,235,0,0,1,5,0,10000*54	FG_AHR_10Vo	18.648
NET_PING	1653170415,25,1781.133057,16.900000,0.952158	MEM0	60148,1,0,0
FINISH	1.8,1.021019	MEM1	65508,1,0,0
SM_CCo	3773.61,238.49,0.911,0,541.7,612.1,471.2,603.03	MEM2	944748,29,101960,64
SM_GC	1.56,238.49,11.70,0.10,0.911,0.095,0.145,541.7,612.1,471.2,190.9,2186.8,0,0,0,11.68,15.84,15.88	DATA_FILE_SIZE	12963,488
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	289582,0
IRIDIUM_FIX	4737.86,-12251.79,210522,201759	SDSIZE	3887104,3872192
TCM_TEMP	12.75	SDFILEDIR	77,1
SC_FREEKB	3876864	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
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.008,305.5,1
HUMID	48.16	MAGCAL	1.000000,0.008146,0.051404,-0.002607,1.063037,-0.042332,-0.025824,-0.021322,1.024913,427.4,-1284.5,-255.5,29,0.0281,0
TEMP	10.31	IMPLIED_C_PITCH	1753,18.66,280,1726.6,18.50
INTERNAL_PRESSURE	8.08169	IMPLIED_C_VBD	2924,23.743254,280,2962.2
_24V_AH	14.76,4.370	GPS	210522,223813,4736.625,-12256.701,20,1.5,24,15.5
_10V_AH	14.81,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	683	1110	11193.93	nil	0	0	0.00
Pitch_motor	27	276	111.25	nil	0	0	0.00
Roll_motor	64	172	163.06	nil	0	0	0.00
Iridium	246	218	792.73	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.00	nil	0	0	0.00
Core	2095	5	158.91	SciCon	3519	6	358.93
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1903	0	9.02
Compass	985	5	73.01
RAFOS	2307	40	1367.20
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
6.49	16386	-146.63	-1.11	0.00	536.2	610.5	462.0	193.7	2109.3	0.00	0.00	0	115.70	106.58	0.00	0.00	0.005	0.000	0.000	2883.25	2852.56	2913.94	193.44	2109.38	0	0	0	15.91	30.00	30.00
115.93	18983	-146.63	-1.11	-80.00	2881.7	2850.9	2912.5	193.6	2109.1	3.36	-1.77	21	156.94	20.83	9.94	3.52	0.006	0.277	0.118	3596.97	3587.50	3606.44	1430.06	682.12	0	0	0	15.94	15.78	15.86
382.49	3205	-146.63	-0.82	0.00	3598.6	3594.0	3603.2	1429.9	682.0	44.94	-15.78	74	388.24	0.00	0.53	3.40	0.000	0.207	0.050	3598.59	3594.56	3602.62	1503.31	2175.94	0	0	0	30.00	15.88	15.97
577.50	420	-146.63	-0.77	80.00	3598.7	3596.3	3601.1	1503.6	2175.4	65.40	-9.67	98	582.39	0.00	0.00	3.48	0.000	0.000	0.112	3598.69	3595.69	3601.69	1503.62	3617.56	0	0	0	30.00	30.00	15.98
627.50	3205	-146.63	-0.66	0.00	3598.7	3596.2	3601.2	1503.2	3617.8	71.09	-11.75	108	632.52	0.00	0.26	3.43	0.000	0.185	0.051	3599.91	3597.06	3602.75	1541.38	2118.00	0	0	0	30.00	15.95	16.01
817.52	420	-146.63	-0.71	80.00	3599.7	3597.9	3601.4	1541.3	2116.9	86.88	-7.96	128	822.45	0.00	0.00	3.65	0.000	0.000	0.112	3598.91	3596.69	3601.12	1540.94	3617.06	0	0	0	30.00	30.00	16.00
861.79	1060	-146.63	-0.71	0.00	3599.4	3597.8	3601.1	1541.1	3617.8	91.03	-9.36	137	868.15	0.00	0.00	3.42	0.000	0.000	0.051	3599.84	3597.75	3601.94	1541.06	2117.62	0	0	0	30.00	30.00	16.06
1057.54	4257	-146.63	-0.77	0.00	3599.5	3597.6	3601.5	1541.6	2116.5	106.70	-8.17	157	1059.02	0.00	0.27	0.00	0.000	0.093	0.000	3598.84	3597.25	3600.44	1500.62	2116.62	0	0	0	30.00	16.05	30.00
1247.52	260	-146.63	-0.77	80.00	3599.8	3598.2	3601.4	1500.6	2117.1	125.77	-10.17	176	1252.47	0.00	0.00	3.63	0.000	0.000	0.111	3600.44	3598.75	3602.12	1500.44	3617.31	0	0	0	30.00	30.00	16.06
1351.81	3205	-146.63	-0.68	0.00	3599.6	3598.0	3601.2	1499.8	3617.7	137.90	-11.49	197	1358.24	0.00	0.30	3.41	0.000	0.179	0.053	3600.28	3598.25	3602.31	1536.00	2119.12	0	0	0	30.00	16.05	16.11
1538.82	420	-146.63	-0.74	80.00	3599.8	3597.9	3601.8	1535.8	2119.4	153.52	-8.20	215	1543.72	0.00	0.00	3.65	0.000	0.000	0.112	3599.44	3597.69	3601.19	1536.00	3617.25	0	0	0	30.00	30.00	16.05
1598.79	1028	-146.63	-0.74	0.00	3599.7	3598.6	3600.8	1536.4	3617.9	159.29	-9.73	227	1603.71	0.00	0.00	3.41	0.000	0.000	0.052	3600.34	3599.38	3601.31	1536.75	2119.25	0	0	0	30.00	30.00	16.09
1609	end dive: TARGET_DEPTH_EXCEEDED
state	1609	begin apogee
1609.94	10243	0.00	-0.27	0.00	3599.6	3598.2	3600.9	1536.6	2182.9	160.26	-9.65	229	1724.10	111.06	0.68	0.10	1.110	0.160	0.172	2998.84	3051.31	2946.38	1634.19	2113.75	0	0	0	11.74	16.03	15.69
1725	end apogee: CONTROL_FINISHED_OK
state	1725	begin climb
1724.96	10243	146.63	1.11	0.00	2998.7	3051.1	2946.3	1634.1	2114.7	165.50	0.00	240	1844.47	114.57	2.39	0.00	1.063	0.141	0.000	2400.06	2469.06	2331.06	1971.12	2114.38	0	0	0	11.56	15.66	30.00
2028.82	8486	158.60	1.13	80.00	2396.2	2460.1	2332.3	1970.8	2114.1	142.27	9.16	271	2045.08	11.12	0.00	3.77	0.900	0.000	0.117	2353.06	2418.62	2287.50	1970.88	3614.75	0	0	0	11.61	30.00	15.66
2093.84	1156	158.60	1.03	0.00	2350.5	2415.1	2285.9	1970.2	3615.1	135.24	11.55	284	2098.74	0.00	0.00	3.49	0.000	0.000	0.053	2350.81	2414.88	2286.75	1971.00	2119.94	0	0	0	30.00	30.00	15.73
2283.83	0	158.60	1.03	0.00	2350.2	2414.4	2286.1	1970.9	2119.4	115.78	10.31	304	2285.16	0.00	0.00	0.00	0.000	0.000	0.000	2349.94	2414.12	2285.75	1970.69	2119.62	0	0	0	30.00	30.00	30.00
2473.90	260	158.60	1.03	80.00	2349.8	2413.2	2286.4	1971.1	2119.4	96.65	9.86	323	2478.80	0.00	0.00	3.70	0.000	0.000	0.115	2350.22	2413.50	2286.94	1970.94	3614.88	0	0	0	30.00	30.00	15.86
2538.15	5253	158.60	0.93	0.00	2348.7	2410.9	2286.5	1970.8	3615.2	89.65	11.25	336	2544.62	0.00	0.41	3.44	0.000	0.166	0.053	2349.00	2411.44	2286.56	1918.62	2120.06	0	0	0	30.00	15.83	15.90
2728.64	10403	223.34	1.14	0.00	2348.5	2410.1	2287.0	1918.5	2120.2	76.80	6.79	355	2780.97	50.73	0.42	0.00	1.007	0.081	0.000	2090.47	2172.81	2008.12	1983.81	2119.75	0	0	0	11.72	15.90	30.00
2964.07	388	223.34	1.19	80.00	2085.0	2163.8	2006.2	1982.6	2119.6	51.53	10.80	379	2969.03	0.00	0.00	3.71	0.000	0.000	0.115	2084.78	2163.50	2006.06	1983.88	3615.75	0	0	0	30.00	30.00	15.83
2994.06	1028	223.34	1.19	0.00	2082.9	2160.1	2005.8	1983.5	3616.7	48.16	10.99	385	2999.71	0.00	0.00	3.45	0.000	0.000	0.051	2083.94	2161.25	2006.62	1982.06	2121.38	0	0	0	30.00	30.00	15.86
3184.11	128	223.34	1.24	0.00	2083.2	2160.2	2006.1	1984.1	2120.8	29.17	9.96	423	3188.22	0.00	0.00	0.00	0.000	0.000	0.000	2083.31	2160.25	2006.38	1983.94	2121.00	0	0	0	30.00	30.00	30.00
3371.48	10663	259.94	1.38	80.00	2082.5	2158.9	2006.1	1984.1	2120.4	12.06	8.05	460	3407.85	28.73	0.31	3.70	0.938	0.082	0.115	1939.09	2025.50	1852.69	2040.94	3617.00	0	0	0	11.69	15.93	15.83
3501.48	9254	342.12	1.48	0.00	1935.3	2018.1	1852.6	2040.0	3617.6	2.24	6.01	486	3507.19	1.13	0.00	3.45	0.141	0.000	0.050	1935.59	2017.69	1853.50	2041.38	2116.94	0	0	0	15.82	30.00	15.89
3507	end climb: SURFACE_DEPTH_REACHED
state	3507	begin surface coast
3511	end surface coast: CONTROL_FINISHED_OK
state	3511	begin surface