Glider dive log

HoodCanal 22May22 * 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 5 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 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 19.083488 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.970951 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 25.889406 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -188.63794 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 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 18.970951 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 25.889406 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 19.083488 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3628 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 70

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -188.63794 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3000 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72520 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 6 MISSION 5 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 170 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 220522,213411,4736.898,-12256.333,12,1.8,14,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,214013,4736.886,-12256.294,2,1.8,4,15.5 MHEAD_RNG_PITCHd_Wd 194.9,1862,-17.1,-9.697,-20.82,2278,0.131

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.009937,0.018809,0.017288,1.099418,-0.058910,-0.017563,-0.054678,1.079589,457.993134,-1275.505493,-285.308868

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220522223812.473091,06,22137,43,0169,0150,37,02,02,00,02,-1,-01,-01,1,3,2196,0,150,13.1,0.51,-100,2.49,-01,2.10,62,10000,5000,0,-1,00,00*6F FG_AHR_24Vo 26.054

NAV 1653257417,165.6,0,stop FG_AHR_10Vo 18.992

NET_PING 1653258490,25,1752.237061,25.000000,-2.326283 MEM0 60148,1,0,0

FINISH 1.0,1.020213 MEM1 65508,1,0,0

SM_CCo 3988.84,213.90,0.892,0,541.5,606.7,476.4,603.06 MEM2 944584,27,102144,65

SM_GC 1.58,213.90,11.60,3.40,0.892,0.084,0.047,541.5,606.7,476.4,194.8,2114.4,0,0,0,11.73,15.88,15.90 DATA_FILE_SIZE 12927,518

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 306295,0

IRIDIUM_FIX 4738.80,-12300.63,220522,213526 SDSIZE 3887104,3871968

TCM_TEMP 12.79 SDFILEDIR 82,1

SC_FREEKB 3876864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -2 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.043, 30.4,1

HUMID 48.35 MAGCAL 1.000000,0.012723,0.034768,-0.001904,1.084495,-0.075740,0.006570,-0.026946,1.018753,453.5,-1264.0,-238.7,36,0.0265,0

TEMP 10.12 IMPLIED_C_PITCH 1749,19.06,287,1724.6,19.07

INTERNAL_PRESSURE 8.09068 IMPLIED_C_VBD 2945,27.010164,287,2972.6

_24V_AH 14.82,5.884 GPS 220522,224801,4736.625,-12256.598,8,0.8,30,15.5

_10V_AH 14.85,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 689 1092 11160.76 nil 0 0 0.00

Pitch_motor 26 270 105.65 nil 0 0 0.00

Roll_motor 63 200 189.27 nil 0 0 0.00

Iridium 237 209 738.46 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2328 5 177.06 SciCon 3745 6 382.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1768 0 8.41

Compass 1046 5 77.72

RAFOS 375 40 222.88

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

6.56 16386 -146.63 -1.08 0.00 535.3 608.1 462.6 198.4 2110.1 0.00 0.00 0 107.37 96.29 0.00 0.00 0.005 0.000 0.000 2701.00 2671.25 2730.75 198.62 2110.44 0 0 0 15.86 30.00 30.00

107.68 18727 -146.63 -1.08 80.00 2699.1 2669.3 2728.9 198.5 2110.0 3.06 -1.68 19 158.29 27.18 9.99 3.66 0.006 0.270 0.108 3596.94 3586.75 3607.12 1438.69 3618.94 0 0 0 15.91 15.75 15.84

386.71 3205 -146.63 -0.75 0.00 3598.1 3589.7 3606.5 1438.4 3618.7 44.42 -15.14 74 393.76 0.00 0.57 3.41 0.000 0.188 0.049 3599.28 3591.00 3607.56 1519.75 2118.38 0 0 0 30.00 15.89 15.95

578.14 292 -146.63 -0.75 80.00 3598.4 3594.7 3602.1 1519.4 2118.4 61.80 -8.43 99 585.25 0.00 0.00 3.65 0.000 0.000 0.107 3599.84 3595.44 3604.25 1520.38 3617.69 0 0 0 30.00 30.00 15.98

673.65 1156 -146.63 -0.66 0.00 3598.5 3594.4 3602.6 1520.1 3617.7 71.09 -10.03 118 679.60 0.00 0.00 3.41 0.000 0.000 0.049 3597.78 3594.06 3601.50 1520.56 2116.81 0 0 0 30.00 30.00 16.02

863.64 32 -146.63 -0.66 0.00 3598.8 3595.5 3602.1 1520.6 2117.2 87.58 -8.53 138 865.21 0.00 0.00 0.00 0.000 0.000 0.000 3598.34 3595.06 3601.62 1520.38 2117.19 0 0 0 30.00 30.00 30.00

1048.61 292 -146.63 -0.66 80.00 3598.9 3595.9 3601.9 1520.6 2117.0 103.23 -8.69 156 1058.99 0.00 0.00 3.65 0.000 0.000 0.109 3598.59 3595.31 3601.88 1520.12 3618.12 0 0 0 30.00 30.00 16.00

1160.18 3205 -146.63 -0.63 0.00 3598.5 3595.1 3601.9 1520.6 3617.5 115.11 -10.31 173 1167.76 0.00 0.19 3.40 0.000 0.176 0.050 3599.53 3596.50 3602.56 1549.00 2118.56 0 0 0 30.00 16.01 16.06

1355.99 420 -146.63 -0.72 80.00 3599.1 3597.1 3601.0 1548.9 2118.9 130.10 -7.25 193 1363.04 0.00 0.00 3.65 0.000 0.000 0.110 3600.03 3597.94 3602.12 1548.56 3616.31 0 0 0 30.00 30.00 16.04

1421.49 5285 -146.63 -0.77 0.00 3598.8 3596.2 3601.3 1549.2 3616.0 135.50 -8.42 206 1428.64 0.00 0.31 3.38 0.000 0.087 0.048 3599.75 3596.81 3602.69 1500.12 2116.25 0 0 0 30.00 16.05 16.06

1616.43 292 -146.63 -0.77 80.00 3599.6 3597.5 3601.6 1500.7 2115.8 153.55 -9.65 226 1623.59 0.00 0.00 3.63 0.000 0.000 0.107 3598.59 3596.19 3601.00 1500.25 3616.31 0 0 0 30.00 30.00 16.07

1676 end dive: TARGET_DEPTH_EXCEEDED

state 1676 begin apogee

1681.51 10243 0.00 -0.26 0.00 3599.2 3596.6 3601.8 1501.0 2118.6 160.24 -11.68 237 1801.86 111.47 1.02 0.09 1.093 0.162 0.200 3001.47 3054.06 2948.88 1636.81 2181.06 0 0 0 11.91 16.05 15.71

1803 end apogee: CONTROL_FINISHED_OK

state 1803 begin climb

1802.92 10243 146.63 1.08 0.00 2998.8 3050.8 2946.7 1636.4 2180.7 166.29 0.00 249 1927.92 115.64 2.28 0.00 1.048 0.136 0.000 2401.41 2470.25 2332.56 1962.38 2180.94 0 0 0 11.65 15.70 30.00

2111.25 8742 154.12 1.09 -80.00 2396.1 2459.6 2332.6 1962.6 2180.6 143.83 9.36 285 2127.86 7.69 0.00 3.73 0.785 0.000 0.115 2371.53 2436.44 2306.62 1961.62 682.19 0 0 0 11.69 30.00 15.71

2145.56 1156 154.12 1.05 0.00 2370.4 2435.2 2305.6 1961.9 681.9 140.27 10.19 292 2152.99 0.00 0.00 3.46 0.000 0.000 0.049 2370.81 2435.62 2306.00 1962.31 2176.31 0 0 0 30.00 30.00 15.77

2341.22 0 154.12 1.05 0.00 2369.7 2434.0 2305.4 1962.2 2175.9 120.97 9.83 312 2342.79 0.00 0.00 0.00 0.000 0.000 0.000 2368.34 2432.75 2303.94 1961.94 2175.88 0 0 0 30.00 30.00 30.00

2528.28 32 156.18 1.05 0.00 2369.0 2432.2 2305.8 1962.2 2175.6 103.01 9.60 331 2529.85 0.00 0.00 0.00 0.000 0.000 0.000 2367.38 2430.88 2303.88 1961.75 2175.94 0 0 0 30.00 30.00 30.00

2718.30 8486 162.99 1.06 80.00 2368.5 2431.4 2305.5 1961.8 2175.4 85.22 9.39 350 2734.90 9.18 0.00 3.54 0.840 0.000 0.117 2334.41 2399.81 2269.00 1961.94 3615.88 0 0 0 11.76 30.00 15.93

2758.33 1156 162.99 1.02 0.00 2333.7 2397.9 2269.4 1961.9 3616.3 81.10 10.42 358 2764.28 0.00 0.00 3.41 0.000 0.000 0.049 2332.31 2396.94 2267.69 1962.06 2115.88 0 0 0 30.00 30.00 15.98

2948.30 8226 182.33 1.04 0.00 2333.3 2397.6 2269.1 1962.2 2114.8 63.75 8.83 378 2969.12 16.92 0.00 0.00 0.936 0.000 0.000 2257.91 2327.69 2188.12 1962.50 2114.75 0 0 0 11.86 30.00 30.00

3153.40 8614 204.69 1.10 80.00 2253.4 2321.7 2185.1 1962.1 2114.3 45.31 8.69 403 3181.23 18.69 0.00 3.70 0.925 0.000 0.114 2164.47 2239.31 2089.62 1962.19 3617.69 0 0 0 11.89 30.00 15.92

3194.58 9254 210.36 1.11 0.00 2162.9 2237.1 2088.8 1961.6 3617.9 41.43 9.44 411 3207.79 6.56 0.00 3.42 0.690 0.000 0.050 2140.03 2214.44 2065.62 1962.44 2118.69 0 0 0 11.73 30.00 15.96

3391.19 10403 228.83 1.22 0.00 2140.0 2213.2 2066.8 1962.0 2118.6 23.71 8.87 450 3411.99 16.18 0.20 0.00 0.891 0.096 0.000 2066.44 2146.31 1986.56 2002.06 2118.25 0 0 0 11.73 15.98 30.00

3593.62 10663 294.38 1.39 80.00 2063.3 2140.2 1986.4 2002.1 2117.9 6.22 6.75 490 3653.18 49.33 0.20 3.71 0.918 0.097 0.113 1798.12 1897.31 1698.94 2043.88 3619.44 0 0 0 11.83 15.98 15.83

3692 end climb: SURFACE_DEPTH_REACHED

state 3692 begin surface coast

3737 end surface coast: CONTROL_FINISHED_OK

state 3737 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	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	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	19.083488	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.970951	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	25.889406	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-188.63794	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	220522,213411,4736.898,-12256.333,12,1.8,14,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,214013,4736.886,-12256.294,2,1.8,4,15.5	MHEAD_RNG_PITCHd_Wd	194.9,1862,-17.1,-9.697,-20.82,2278,0.131
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.009937,0.018809,0.017288,1.099418,-0.058910,-0.017563,-0.054678,1.079589,457.993134,-1275.505493,-285.308868
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220522223812.473091,06,22137,43,0169,0150,37,02,02,00,02,-1,-01,-01,1,3,2196,0,150,13.1,0.51,-100,2.49,-01,2.10,62,10000,5000,0,-1,00,00*6F	FG_AHR_24Vo	26.054
NAV	1653257417,165.6,0,stop	FG_AHR_10Vo	18.992
NET_PING	1653258490,25,1752.237061,25.000000,-2.326283	MEM0	60148,1,0,0
FINISH	1.0,1.020213	MEM1	65508,1,0,0
SM_CCo	3988.84,213.90,0.892,0,541.5,606.7,476.4,603.06	MEM2	944584,27,102144,65
SM_GC	1.58,213.90,11.60,3.40,0.892,0.084,0.047,541.5,606.7,476.4,194.8,2114.4,0,0,0,11.73,15.88,15.90	DATA_FILE_SIZE	12927,518
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	306295,0
IRIDIUM_FIX	4738.80,-12300.63,220522,213526	SDSIZE	3887104,3871968
TCM_TEMP	12.79	SDFILEDIR	82,1
SC_FREEKB	3876864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-2	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.043, 30.4,1
HUMID	48.35	MAGCAL	1.000000,0.012723,0.034768,-0.001904,1.084495,-0.075740,0.006570,-0.026946,1.018753,453.5,-1264.0,-238.7,36,0.0265,0
TEMP	10.12	IMPLIED_C_PITCH	1749,19.06,287,1724.6,19.07
INTERNAL_PRESSURE	8.09068	IMPLIED_C_VBD	2945,27.010164,287,2972.6
_24V_AH	14.82,5.884	GPS	220522,224801,4736.625,-12256.598,8,0.8,30,15.5
_10V_AH	14.85,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	689	1092	11160.76	nil	0	0	0.00
Pitch_motor	26	270	105.65	nil	0	0	0.00
Roll_motor	63	200	189.27	nil	0	0	0.00
Iridium	237	209	738.46	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2328	5	177.06	SciCon	3745	6	382.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1768	0	8.41
Compass	1046	5	77.72
RAFOS	375	40	222.88
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
6.56	16386	-146.63	-1.08	0.00	535.3	608.1	462.6	198.4	2110.1	0.00	0.00	0	107.37	96.29	0.00	0.00	0.005	0.000	0.000	2701.00	2671.25	2730.75	198.62	2110.44	0	0	0	15.86	30.00	30.00
107.68	18727	-146.63	-1.08	80.00	2699.1	2669.3	2728.9	198.5	2110.0	3.06	-1.68	19	158.29	27.18	9.99	3.66	0.006	0.270	0.108	3596.94	3586.75	3607.12	1438.69	3618.94	0	0	0	15.91	15.75	15.84
386.71	3205	-146.63	-0.75	0.00	3598.1	3589.7	3606.5	1438.4	3618.7	44.42	-15.14	74	393.76	0.00	0.57	3.41	0.000	0.188	0.049	3599.28	3591.00	3607.56	1519.75	2118.38	0	0	0	30.00	15.89	15.95
578.14	292	-146.63	-0.75	80.00	3598.4	3594.7	3602.1	1519.4	2118.4	61.80	-8.43	99	585.25	0.00	0.00	3.65	0.000	0.000	0.107	3599.84	3595.44	3604.25	1520.38	3617.69	0	0	0	30.00	30.00	15.98
673.65	1156	-146.63	-0.66	0.00	3598.5	3594.4	3602.6	1520.1	3617.7	71.09	-10.03	118	679.60	0.00	0.00	3.41	0.000	0.000	0.049	3597.78	3594.06	3601.50	1520.56	2116.81	0	0	0	30.00	30.00	16.02
863.64	32	-146.63	-0.66	0.00	3598.8	3595.5	3602.1	1520.6	2117.2	87.58	-8.53	138	865.21	0.00	0.00	0.00	0.000	0.000	0.000	3598.34	3595.06	3601.62	1520.38	2117.19	0	0	0	30.00	30.00	30.00
1048.61	292	-146.63	-0.66	80.00	3598.9	3595.9	3601.9	1520.6	2117.0	103.23	-8.69	156	1058.99	0.00	0.00	3.65	0.000	0.000	0.109	3598.59	3595.31	3601.88	1520.12	3618.12	0	0	0	30.00	30.00	16.00
1160.18	3205	-146.63	-0.63	0.00	3598.5	3595.1	3601.9	1520.6	3617.5	115.11	-10.31	173	1167.76	0.00	0.19	3.40	0.000	0.176	0.050	3599.53	3596.50	3602.56	1549.00	2118.56	0	0	0	30.00	16.01	16.06
1355.99	420	-146.63	-0.72	80.00	3599.1	3597.1	3601.0	1548.9	2118.9	130.10	-7.25	193	1363.04	0.00	0.00	3.65	0.000	0.000	0.110	3600.03	3597.94	3602.12	1548.56	3616.31	0	0	0	30.00	30.00	16.04
1421.49	5285	-146.63	-0.77	0.00	3598.8	3596.2	3601.3	1549.2	3616.0	135.50	-8.42	206	1428.64	0.00	0.31	3.38	0.000	0.087	0.048	3599.75	3596.81	3602.69	1500.12	2116.25	0	0	0	30.00	16.05	16.06
1616.43	292	-146.63	-0.77	80.00	3599.6	3597.5	3601.6	1500.7	2115.8	153.55	-9.65	226	1623.59	0.00	0.00	3.63	0.000	0.000	0.107	3598.59	3596.19	3601.00	1500.25	3616.31	0	0	0	30.00	30.00	16.07
1676	end dive: TARGET_DEPTH_EXCEEDED
state	1676	begin apogee
1681.51	10243	0.00	-0.26	0.00	3599.2	3596.6	3601.8	1501.0	2118.6	160.24	-11.68	237	1801.86	111.47	1.02	0.09	1.093	0.162	0.200	3001.47	3054.06	2948.88	1636.81	2181.06	0	0	0	11.91	16.05	15.71
1803	end apogee: CONTROL_FINISHED_OK
state	1803	begin climb
1802.92	10243	146.63	1.08	0.00	2998.8	3050.8	2946.7	1636.4	2180.7	166.29	0.00	249	1927.92	115.64	2.28	0.00	1.048	0.136	0.000	2401.41	2470.25	2332.56	1962.38	2180.94	0	0	0	11.65	15.70	30.00
2111.25	8742	154.12	1.09	-80.00	2396.1	2459.6	2332.6	1962.6	2180.6	143.83	9.36	285	2127.86	7.69	0.00	3.73	0.785	0.000	0.115	2371.53	2436.44	2306.62	1961.62	682.19	0	0	0	11.69	30.00	15.71
2145.56	1156	154.12	1.05	0.00	2370.4	2435.2	2305.6	1961.9	681.9	140.27	10.19	292	2152.99	0.00	0.00	3.46	0.000	0.000	0.049	2370.81	2435.62	2306.00	1962.31	2176.31	0	0	0	30.00	30.00	15.77
2341.22	0	154.12	1.05	0.00	2369.7	2434.0	2305.4	1962.2	2175.9	120.97	9.83	312	2342.79	0.00	0.00	0.00	0.000	0.000	0.000	2368.34	2432.75	2303.94	1961.94	2175.88	0	0	0	30.00	30.00	30.00
2528.28	32	156.18	1.05	0.00	2369.0	2432.2	2305.8	1962.2	2175.6	103.01	9.60	331	2529.85	0.00	0.00	0.00	0.000	0.000	0.000	2367.38	2430.88	2303.88	1961.75	2175.94	0	0	0	30.00	30.00	30.00
2718.30	8486	162.99	1.06	80.00	2368.5	2431.4	2305.5	1961.8	2175.4	85.22	9.39	350	2734.90	9.18	0.00	3.54	0.840	0.000	0.117	2334.41	2399.81	2269.00	1961.94	3615.88	0	0	0	11.76	30.00	15.93
2758.33	1156	162.99	1.02	0.00	2333.7	2397.9	2269.4	1961.9	3616.3	81.10	10.42	358	2764.28	0.00	0.00	3.41	0.000	0.000	0.049	2332.31	2396.94	2267.69	1962.06	2115.88	0	0	0	30.00	30.00	15.98
2948.30	8226	182.33	1.04	0.00	2333.3	2397.6	2269.1	1962.2	2114.8	63.75	8.83	378	2969.12	16.92	0.00	0.00	0.936	0.000	0.000	2257.91	2327.69	2188.12	1962.50	2114.75	0	0	0	11.86	30.00	30.00
3153.40	8614	204.69	1.10	80.00	2253.4	2321.7	2185.1	1962.1	2114.3	45.31	8.69	403	3181.23	18.69	0.00	3.70	0.925	0.000	0.114	2164.47	2239.31	2089.62	1962.19	3617.69	0	0	0	11.89	30.00	15.92
3194.58	9254	210.36	1.11	0.00	2162.9	2237.1	2088.8	1961.6	3617.9	41.43	9.44	411	3207.79	6.56	0.00	3.42	0.690	0.000	0.050	2140.03	2214.44	2065.62	1962.44	2118.69	0	0	0	11.73	30.00	15.96
3391.19	10403	228.83	1.22	0.00	2140.0	2213.2	2066.8	1962.0	2118.6	23.71	8.87	450	3411.99	16.18	0.20	0.00	0.891	0.096	0.000	2066.44	2146.31	1986.56	2002.06	2118.25	0	0	0	11.73	15.98	30.00
3593.62	10663	294.38	1.39	80.00	2063.3	2140.2	1986.4	2002.1	2117.9	6.22	6.75	490	3653.18	49.33	0.20	3.71	0.918	0.097	0.113	1798.12	1897.31	1698.94	2043.88	3619.44	0	0	0	11.83	15.98	15.83
3692	end climb: SURFACE_DEPTH_REACHED
state	3692	begin surface coast
3737	end surface coast: CONTROL_FINISHED_OK
state	3737	begin surface