Glider dive log

HoodCanal 21May22 * SG241 * Dive index * Mission links * Dive 1 * 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 1 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 1 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 120 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 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 40 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 60 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 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.43388 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 23.378687 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 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 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 1 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 120 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 18.43388 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 23.378687 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 25 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 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 40

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 60

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -188.51822 T_NO_W 60

C_PITCH_AUTO_MAX 0 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 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 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 1 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 210522,154747,4736.944,-12256.589,1,1.3,4,15.5 TGT_RADIUS 300.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,155441,4736.905,-12256.648,3,1.3,5,15.5 MHEAD_RNG_PITCHd_Wd 179.2,1733,-17.6,-10.000,-21.21,2209,0.114

SPEED_LIMITS 0.173,0.258 D_GRID 165

TGT_NAME S IRON 1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653150974,41.5,0,stop FG_AHR_24Vo 23.541

NET CACST,8,1,20220521164019.260031,06,9578,27,0208,0150,82,02,02,02,02,-1,-01,-01,1,3,2196,0,150,7.8,0.53,-100,2.47,-01,0.20,66,10000,5000,0,-1,00,00*68 FG_AHR_10Vo 18.468

NET_PING 1653150016,25,1498.918579,18.500000,1.315872 MEM0 60148,1,0,0

FINISH 0.9,1.020349 MEM1 65508,1,0,0

SM_CCo 3192.00,251.66,0.930,0,541.6,617.3,465.9,603.04 MEM2 944816,28,101912,64

SM_GC 1.61,251.66,11.43,0.09,0.930,0.089,0.154,541.6,617.3,465.9,193.6,2180.1,0,0,0,11.58,15.89,15.94 DATA_FILE_SIZE 12942,452

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 290338,0

IRIDIUM_FIX 4736.68,-12233.17,210522,154954 SDSIZE 3887104,3873664

TCM_TEMP 12.79 SDFILEDIR 40,1

SC_FREEKB 3878464 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.007,218.0,1

HUMID 47.62 MAGCAL 1.000000,0.007510,0.001828,-0.006963,1.060752,-0.016920,0.018834,-0.026874,0.991776,466.3,-1300.7,-212.7,15,0.0249,0

TEMP 10.09 IMPLIED_C_PITCH 1764,18.40,249,0.0,0.00

INTERNAL_PRESSURE 8.07062 IMPLIED_C_VBD 3040,39.825848,249,0

_24V_AH 14.76,3.370 GPS 210522,164919,4736.579,-12256.754,15,1.5,30,15.5

_10V_AH 14.80,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 692 1098 11238.71 nil 0 0 0.00

Pitch_motor 26 313 121.38 nil 0 0 0.00

Roll_motor 64 182 172.85 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 3.08 nil 0 0 0.00

Core 1712 5 129.76 SciCon 2920 6 300.26

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1268 0 6.01

Compass 914 5 67.69

RAFOS 2232 40 1321.42

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

6.52 16386 -146.63 -0.88 0.00 541.2 636.9 445.6 199.8 2185.1 0.00 0.00 0 146.35 136.54 0.00 0.00 0.005 0.000 0.000 3267.06 3241.19 3292.94 199.62 2185.56 0 0 0 16.07 30.00 30.00

146.59 18983 -146.63 -0.88 -80.00 3266.7 3241.3 3292.1 199.8 2185.7 3.30 -2.29 27 177.81 10.57 10.47 3.70 0.007 0.314 0.117 3598.16 3586.62 3609.69 1483.81 681.88 0 0 0 16.11 15.86 15.98

369.54 3237 -146.63 -0.74 0.00 3597.9 3594.3 3601.5 1484.8 681.9 26.07 -9.17 69 375.21 0.00 0.25 3.43 0.000 0.199 0.049 3598.81 3595.38 3602.25 1520.50 2178.19 0 0 0 30.00 15.93 16.01

559.53 292 -146.63 -0.74 80.00 3599.1 3597.3 3600.9 1520.2 2177.6 40.44 -7.63 107 565.17 0.00 0.00 3.49 0.000 0.000 0.112 3600.25 3597.62 3602.88 1520.94 3619.69 0 0 0 30.00 30.00 15.98

649.57 1188 -146.63 -0.66 0.00 3599.5 3597.7 3601.4 1520.2 3620.8 48.15 -8.73 125 655.17 0.00 0.00 3.44 0.000 0.000 0.052 3600.41 3598.12 3602.69 1521.31 2118.50 0 0 0 30.00 30.00 16.01

844.56 548 -146.63 -0.66 -80.00 3599.2 3597.9 3600.4 1520.9 2117.7 62.37 -7.39 147 849.49 0.00 0.00 3.54 0.000 0.000 0.116 3599.72 3598.19 3601.25 1520.69 682.12 0 0 0 30.00 30.00 15.98

884.57 3237 -146.63 -0.60 0.00 3599.4 3597.7 3601.1 1520.3 682.0 66.11 -9.35 155 889.53 0.00 0.23 3.42 0.000 0.188 0.050 3599.47 3597.81 3601.12 1555.12 2176.50 0 0 0 30.00 15.95 16.01

1074.59 420 -146.63 -0.67 80.00 3599.5 3598.6 3600.4 1554.7 2176.7 80.38 -7.60 175 1079.47 0.00 0.00 3.49 0.000 0.000 0.112 3600.47 3599.50 3601.44 1554.88 3616.19 0 0 0 30.00 30.00 15.99

1174.58 1060 -146.63 -0.67 0.00 3599.2 3598.1 3600.4 1554.8 3616.7 89.61 -9.50 195 1179.48 0.00 0.00 3.43 0.000 0.000 0.052 3601.31 3599.44 3603.19 1555.12 2118.38 0 0 0 30.00 30.00 16.02

1364.61 4517 -146.63 -0.75 80.00 3599.9 3599.0 3600.8 1554.9 2117.9 104.65 -7.90 215 1370.66 0.00 0.33 3.65 0.000 0.091 0.110 3599.94 3598.69 3601.19 1504.06 3618.75 0 0 0 30.00 16.00 15.99

1393.89 3237 -146.63 -0.69 0.00 3599.4 3598.3 3600.4 1504.3 3617.6 107.78 -9.44 221 1400.30 0.00 0.25 3.43 0.000 0.191 0.053 3600.97 3599.69 3602.25 1533.31 2119.44 0 0 0 30.00 15.96 16.02

1539 end dive: TARGET_DEPTH_EXCEEDED

state 1539 begin apogee

1540.72 10243 0.00 -0.20 0.00 3600.0 3598.8 3601.2 1533.8 2179.2 120.32 -8.24 236 1651.87 108.64 0.82 0.10 1.099 0.164 0.183 2998.72 3052.06 2945.38 1652.50 2114.44 0 0 0 11.35 15.94 15.63

1652 end apogee: CONTROL_FINISHED_OK

state 1652 begin climb

1652.68 10759 146.63 0.88 -80.00 2999.0 3052.2 2945.8 1652.6 2112.8 124.88 0.00 247 1774.67 112.51 1.86 3.68 1.048 0.143 0.122 2403.25 2474.69 2331.81 1914.25 684.56 0 0 0 11.47 15.60 15.41

1792.04 11431 222.46 1.13 0.00 2399.3 2470.2 2328.5 1914.2 684.7 118.30 6.49 274 1859.72 59.31 0.39 3.54 1.010 0.083 0.051 2092.50 2175.69 2009.31 1979.75 2175.25 0 0 0 11.26 15.47 15.49

2047.77 260 222.46 1.13 80.00 2086.9 2165.7 2008.1 1980.4 2176.2 88.34 12.09 306 2052.70 0.00 0.00 3.61 0.000 0.000 0.118 2088.56 2166.56 2010.56 1980.88 3614.75 0 0 0 30.00 30.00 15.64

2082.06 1156 222.46 1.10 0.00 2085.4 2162.6 2008.2 1980.9 3614.6 83.83 13.11 313 2088.41 0.00 0.00 3.50 0.000 0.000 0.053 2085.22 2162.62 2007.81 1980.06 2121.94 0 0 0 30.00 30.00 15.69

2277.79 388 222.46 1.14 80.00 2085.0 2162.3 2007.6 1980.1 2121.2 61.72 10.76 333 2282.74 0.00 0.00 3.71 0.000 0.000 0.115 2085.22 2162.62 2007.81 1980.31 3615.06 0 0 0 30.00 30.00 15.76

2297.78 17414 222.46 1.14 0.00 2083.9 2160.5 2007.4 1980.1 3615.1 59.35 11.11 337 2302.69 0.00 0.00 3.46 0.000 0.000 0.052 2086.31 2162.81 2009.81 1980.56 2121.06 0 0 0 30.00 30.00 15.80

2487.82 16514 222.46 1.19 0.00 2084.1 2160.4 2007.8 1980.5 2121.1 38.31 10.79 367 2491.93 0.00 0.00 0.00 0.000 0.000 0.000 2083.97 2160.06 2007.88 1980.75 2120.94 0 0 0 30.00 30.00 30.00

2672.83 10663 239.12 1.29 80.00 2084.0 2160.3 2007.8 1980.6 2120.9 19.95 9.23 404 2693.76 13.67 0.19 3.70 0.892 0.101 0.117 2025.31 2105.12 1945.50 2020.88 3616.06 0 0 0 11.54 15.91 15.66

2746.82 1028 239.12 1.29 0.00 2022.4 2100.8 1944.0 2020.4 3616.2 10.91 13.13 418 2752.46 0.00 0.00 3.45 0.000 0.000 0.054 2024.34 2102.50 1946.19 2020.81 2122.44 0 0 0 30.00 30.00 15.90

2872 end climb: SURFACE_DEPTH_REACHED

state 2872 begin surface coast

2917 end surface coast: CONTROL_FINISHED_OK

state 2917 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	1	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	1	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	120	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	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	40	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	60	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	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.43388	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	23.378687	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	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	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	210522,154747,4736.944,-12256.589,1,1.3,4,15.5	TGT_RADIUS	300.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,155441,4736.905,-12256.648,3,1.3,5,15.5	MHEAD_RNG_PITCHd_Wd	179.2,1733,-17.6,-10.000,-21.21,2209,0.114
SPEED_LIMITS	0.173,0.258	D_GRID	165
TGT_NAME	S	IRON	1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809
TGT_LATLONG	4736.000,-12257.000

NAV	1653150974,41.5,0,stop	FG_AHR_24Vo	23.541
NET	CACST,8,1,20220521164019.260031,06,9578,27,0208,0150,82,02,02,02,02,-1,-01,-01,1,3,2196,0,150,7.8,0.53,-100,2.47,-01,0.20,66,10000,5000,0,-1,00,00*68	FG_AHR_10Vo	18.468
NET_PING	1653150016,25,1498.918579,18.500000,1.315872	MEM0	60148,1,0,0
FINISH	0.9,1.020349	MEM1	65508,1,0,0
SM_CCo	3192.00,251.66,0.930,0,541.6,617.3,465.9,603.04	MEM2	944816,28,101912,64
SM_GC	1.61,251.66,11.43,0.09,0.930,0.089,0.154,541.6,617.3,465.9,193.6,2180.1,0,0,0,11.58,15.89,15.94	DATA_FILE_SIZE	12942,452
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	290338,0
IRIDIUM_FIX	4736.68,-12233.17,210522,154954	SDSIZE	3887104,3873664
TCM_TEMP	12.79	SDFILEDIR	40,1
SC_FREEKB	3878464	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.007,218.0,1
HUMID	47.62	MAGCAL	1.000000,0.007510,0.001828,-0.006963,1.060752,-0.016920,0.018834,-0.026874,0.991776,466.3,-1300.7,-212.7,15,0.0249,0
TEMP	10.09	IMPLIED_C_PITCH	1764,18.40,249,0.0,0.00
INTERNAL_PRESSURE	8.07062	IMPLIED_C_VBD	3040,39.825848,249,0
_24V_AH	14.76,3.370	GPS	210522,164919,4736.579,-12256.754,15,1.5,30,15.5
_10V_AH	14.80,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	692	1098	11238.71	nil	0	0	0.00
Pitch_motor	26	313	121.38	nil	0	0	0.00
Roll_motor	64	182	172.85	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	3.08	nil	0	0	0.00
Core	1712	5	129.76	SciCon	2920	6	300.26
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1268	0	6.01
Compass	914	5	67.69
RAFOS	2232	40	1321.42
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
6.52	16386	-146.63	-0.88	0.00	541.2	636.9	445.6	199.8	2185.1	0.00	0.00	0	146.35	136.54	0.00	0.00	0.005	0.000	0.000	3267.06	3241.19	3292.94	199.62	2185.56	0	0	0	16.07	30.00	30.00
146.59	18983	-146.63	-0.88	-80.00	3266.7	3241.3	3292.1	199.8	2185.7	3.30	-2.29	27	177.81	10.57	10.47	3.70	0.007	0.314	0.117	3598.16	3586.62	3609.69	1483.81	681.88	0	0	0	16.11	15.86	15.98
369.54	3237	-146.63	-0.74	0.00	3597.9	3594.3	3601.5	1484.8	681.9	26.07	-9.17	69	375.21	0.00	0.25	3.43	0.000	0.199	0.049	3598.81	3595.38	3602.25	1520.50	2178.19	0	0	0	30.00	15.93	16.01
559.53	292	-146.63	-0.74	80.00	3599.1	3597.3	3600.9	1520.2	2177.6	40.44	-7.63	107	565.17	0.00	0.00	3.49	0.000	0.000	0.112	3600.25	3597.62	3602.88	1520.94	3619.69	0	0	0	30.00	30.00	15.98
649.57	1188	-146.63	-0.66	0.00	3599.5	3597.7	3601.4	1520.2	3620.8	48.15	-8.73	125	655.17	0.00	0.00	3.44	0.000	0.000	0.052	3600.41	3598.12	3602.69	1521.31	2118.50	0	0	0	30.00	30.00	16.01
844.56	548	-146.63	-0.66	-80.00	3599.2	3597.9	3600.4	1520.9	2117.7	62.37	-7.39	147	849.49	0.00	0.00	3.54	0.000	0.000	0.116	3599.72	3598.19	3601.25	1520.69	682.12	0	0	0	30.00	30.00	15.98
884.57	3237	-146.63	-0.60	0.00	3599.4	3597.7	3601.1	1520.3	682.0	66.11	-9.35	155	889.53	0.00	0.23	3.42	0.000	0.188	0.050	3599.47	3597.81	3601.12	1555.12	2176.50	0	0	0	30.00	15.95	16.01
1074.59	420	-146.63	-0.67	80.00	3599.5	3598.6	3600.4	1554.7	2176.7	80.38	-7.60	175	1079.47	0.00	0.00	3.49	0.000	0.000	0.112	3600.47	3599.50	3601.44	1554.88	3616.19	0	0	0	30.00	30.00	15.99
1174.58	1060	-146.63	-0.67	0.00	3599.2	3598.1	3600.4	1554.8	3616.7	89.61	-9.50	195	1179.48	0.00	0.00	3.43	0.000	0.000	0.052	3601.31	3599.44	3603.19	1555.12	2118.38	0	0	0	30.00	30.00	16.02
1364.61	4517	-146.63	-0.75	80.00	3599.9	3599.0	3600.8	1554.9	2117.9	104.65	-7.90	215	1370.66	0.00	0.33	3.65	0.000	0.091	0.110	3599.94	3598.69	3601.19	1504.06	3618.75	0	0	0	30.00	16.00	15.99
1393.89	3237	-146.63	-0.69	0.00	3599.4	3598.3	3600.4	1504.3	3617.6	107.78	-9.44	221	1400.30	0.00	0.25	3.43	0.000	0.191	0.053	3600.97	3599.69	3602.25	1533.31	2119.44	0	0	0	30.00	15.96	16.02
1539	end dive: TARGET_DEPTH_EXCEEDED
state	1539	begin apogee
1540.72	10243	0.00	-0.20	0.00	3600.0	3598.8	3601.2	1533.8	2179.2	120.32	-8.24	236	1651.87	108.64	0.82	0.10	1.099	0.164	0.183	2998.72	3052.06	2945.38	1652.50	2114.44	0	0	0	11.35	15.94	15.63
1652	end apogee: CONTROL_FINISHED_OK
state	1652	begin climb
1652.68	10759	146.63	0.88	-80.00	2999.0	3052.2	2945.8	1652.6	2112.8	124.88	0.00	247	1774.67	112.51	1.86	3.68	1.048	0.143	0.122	2403.25	2474.69	2331.81	1914.25	684.56	0	0	0	11.47	15.60	15.41
1792.04	11431	222.46	1.13	0.00	2399.3	2470.2	2328.5	1914.2	684.7	118.30	6.49	274	1859.72	59.31	0.39	3.54	1.010	0.083	0.051	2092.50	2175.69	2009.31	1979.75	2175.25	0	0	0	11.26	15.47	15.49
2047.77	260	222.46	1.13	80.00	2086.9	2165.7	2008.1	1980.4	2176.2	88.34	12.09	306	2052.70	0.00	0.00	3.61	0.000	0.000	0.118	2088.56	2166.56	2010.56	1980.88	3614.75	0	0	0	30.00	30.00	15.64
2082.06	1156	222.46	1.10	0.00	2085.4	2162.6	2008.2	1980.9	3614.6	83.83	13.11	313	2088.41	0.00	0.00	3.50	0.000	0.000	0.053	2085.22	2162.62	2007.81	1980.06	2121.94	0	0	0	30.00	30.00	15.69
2277.79	388	222.46	1.14	80.00	2085.0	2162.3	2007.6	1980.1	2121.2	61.72	10.76	333	2282.74	0.00	0.00	3.71	0.000	0.000	0.115	2085.22	2162.62	2007.81	1980.31	3615.06	0	0	0	30.00	30.00	15.76
2297.78	17414	222.46	1.14	0.00	2083.9	2160.5	2007.4	1980.1	3615.1	59.35	11.11	337	2302.69	0.00	0.00	3.46	0.000	0.000	0.052	2086.31	2162.81	2009.81	1980.56	2121.06	0	0	0	30.00	30.00	15.80
2487.82	16514	222.46	1.19	0.00	2084.1	2160.4	2007.8	1980.5	2121.1	38.31	10.79	367	2491.93	0.00	0.00	0.00	0.000	0.000	0.000	2083.97	2160.06	2007.88	1980.75	2120.94	0	0	0	30.00	30.00	30.00
2672.83	10663	239.12	1.29	80.00	2084.0	2160.3	2007.8	1980.6	2120.9	19.95	9.23	404	2693.76	13.67	0.19	3.70	0.892	0.101	0.117	2025.31	2105.12	1945.50	2020.88	3616.06	0	0	0	11.54	15.91	15.66
2746.82	1028	239.12	1.29	0.00	2022.4	2100.8	1944.0	2020.4	3616.2	10.91	13.13	418	2752.46	0.00	0.00	3.45	0.000	0.000	0.054	2024.34	2102.50	1946.19	2020.81	2122.44	0	0	0	30.00	30.00	15.90
2872	end climb: SURFACE_DEPTH_REACHED
state	2872	begin surface coast
2917	end surface coast: CONTROL_FINISHED_OK
state	2917	begin surface