Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 10 * 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 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 10 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 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 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3012.7783 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 75 T_RSLEEP 1 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 1790.8589 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 18.028564 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.373041 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.1708856 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 0 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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.373041 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.1708856 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 18.028564 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 55

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 1790.8589 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

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 1

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 3012.7783 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 10 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 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 250522,111830,4737.139,-12256.429,30,1.3,31,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,112153,4737.197,-12256.374,2,0.7,4,15.5 MHEAD_RNG_PITCHd_Wd 186.7,367,-20.7,-9.697,-24.08,1600,0.132

SPEED_LIMITS 0.168,0.255 D_GRID 163

TGT_NAME N IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653480432,35.3,0,stop FG_AHR_24Vo 7.325

MODEM_MSG CACST,8,0,20220525120001.285950,18,14624,35,0269,0000,246,02,02,01,02,1,025,121,0,5,1,0,150,13.1,6.71,-100,-3.71,-01,-0.07,61,925,0025,0,1,00,00*09 FG_AHR_10Vo 15.392

FREEZE 6.75,11.396,-1.541,0,1,0 MEM0 60132,1,0,0

SM_CCo 3451.39,287.78,0.921,0,500.3,522.1,478.4,616.12 MEM1 65508,1,0,0

SM_GC 1.61,0.00,12.73,0.09,0.000,0.065,0.152,497.9,520.0,475.9,194.9,2120.1,0,0,0,30.00,15.55,15.55 MEM2 944452,36,102156,62

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12963,468

IRIDIUM_FIX 4738.33,-12256.21,250522,101039 CAP_FILE_SIZE 318665,0

TCM_TEMP 17.61 SDSIZE 3887104,3869056

SC_FREEKB 3875584 SDFILEDIR 120,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 SOUNDSPEED 1465.0

HUMID 49.29 CURRENT 0.120, 40.0,1

TEMP 10.10 MAGCAL 1.000000,-0.004464,-0.033908,0.003984,1.100493,-0.129172,0.010071,-0.027512,1.074706,65.5,-862.1,-499.2,33,0.0284,0

INTERNAL_PRESSURE 7.978 IMPLIED_C_PITCH 1793,18.18,243,1792.0,18.11

_24V_AH 15.05,8.436 IMPLIED_C_VBD 3036,17.633684,243,3024.4

_10V_AH 15.00,0.000 GPS 250522,122211,4737.086,-12256.280,1,0.8,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 626 1132 10681.59 nil 0 0 0.00

Pitch_motor 30 258 117.51 nil 0 0 0.00

Roll_motor 56 198 169.59 nil 0 0 0.00

Iridium 135 216 442.61 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 1967 5 151.10 SciCon 3155 6 306.62

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1473 0 7.07

Compass 938 5 70.40

RAFOS 488 40 292.88

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

6.65 16386 -102.57 -1.28 0.00 496.2 506.2 486.3 196.1 2129.0 0.00 0.00 0 71.17 61.35 0.00 0.00 0.005 0.000 0.000 2263.44 2304.25 2222.62 195.94 2129.19 0 0 0 15.86 30.00 30.00

71.47 18727 -146.63 -1.33 80.00 2263.3 2303.8 2222.9 196.2 2128.6 3.06 -2.92 12 131.91 35.74 10.03 3.65 0.005 0.259 0.123 3609.34 3662.88 3555.81 1466.81 3614.31 0 0 0 15.90 15.74 15.82

359.54 3205 -146.63 -1.14 0.00 3610.8 3663.1 3558.5 1467.1 3614.4 39.14 -14.47 68 366.55 0.00 0.32 3.45 0.000 0.196 0.055 3611.22 3662.88 3559.56 1514.12 2120.38 0 0 0 30.00 15.85 15.92

547.99 548 -146.63 -1.14 -80.00 3610.8 3662.7 3559.0 1514.1 2120.5 57.79 -9.22 98 554.24 0.00 0.00 3.58 0.000 0.000 0.124 3611.25 3662.88 3559.62 1514.31 681.81 0 0 0 30.00 30.00 15.95

782.40 1156 -146.63 -1.09 0.00 3611.0 3662.6 3559.4 1514.2 681.8 84.82 -11.77 145 789.99 0.00 0.00 3.43 0.000 0.000 0.059 3612.00 3663.50 3560.50 1513.88 2173.81 0 0 0 30.00 30.00 16.03

978.06 516 -146.63 -1.09 -80.00 3611.5 3663.2 3559.8 1513.8 2174.0 105.17 -10.47 165 985.46 0.00 0.00 3.69 0.000 0.000 0.123 3610.94 3662.56 3559.31 1514.25 682.88 0 0 0 30.00 30.00 16.02

1003.92 1028 -146.63 -1.09 0.00 3611.2 3662.6 3559.8 1514.1 683.1 108.11 -10.79 170 1010.08 0.00 0.00 3.38 0.000 0.000 0.057 3612.12 3664.12 3560.12 1514.25 2175.25 0 0 0 30.00 30.00 16.06

1196.97 260 -146.63 -1.09 80.00 3611.8 3663.6 3559.9 1514.2 2175.1 128.14 -10.17 191 1203.25 0.00 0.00 3.51 0.000 0.000 0.126 3611.94 3663.81 3560.06 1514.31 3614.88 0 0 0 30.00 30.00 16.04

1227.08 1156 -146.63 -1.05 0.00 3611.8 3663.3 3560.2 1513.8 3614.8 131.77 -12.10 197 1233.20 0.00 0.00 3.42 0.000 0.000 0.055 3612.12 3663.81 3560.44 1513.56 2121.75 0 0 0 30.00 30.00 16.08

1417.10 128 -146.63 -1.10 0.00 3611.9 3663.3 3560.5 1514.1 2122.1 152.28 -10.76 217 1418.72 0.00 0.00 0.00 0.000 0.000 0.000 3610.62 3662.25 3559.00 1514.12 2121.56 0 0 0 30.00 30.00 30.00

1497 end dive: TARGET_DEPTH_EXCEEDED

state 1497 begin apogee

1498.39 10243 0.00 -0.28 0.00 3612.3 3663.8 3560.9 1513.8 2179.6 160.44 -10.20 225 1608.87 102.50 1.43 0.10 1.133 0.159 0.198 3010.78 3065.06 2956.50 1724.25 2116.81 0 0 0 12.01 16.06 15.73

1610 end apogee: CONTROL_FINISHED_OK

state 1610 begin climb

1610.05 10243 146.63 1.33 0.00 3010.9 3065.8 2956.1 1723.7 2116.4 164.06 0.00 235 1726.72 105.39 2.66 0.00 1.095 0.118 0.000 2414.53 2480.06 2349.00 2113.31 2116.00 0 0 0 11.93 15.73 30.00

1910.28 644 146.63 1.24 -80.00 2407.2 2477.1 2337.4 2113.1 2115.9 127.03 15.17 271 1917.56 0.00 0.00 3.61 0.000 0.000 0.129 2406.78 2477.31 2336.25 2113.88 681.88 0 0 0 30.00 30.00 15.72

1990.41 21639 146.63 1.03 0.00 2405.1 2475.1 2335.0 2113.9 682.2 112.65 18.31 287 1998.47 0.00 0.63 3.43 0.000 0.172 0.061 2405.19 2475.06 2335.31 2032.88 2166.62 0 0 0 30.00 15.77 15.81

2186.16 19079 146.63 1.13 -80.00 2404.5 2475.0 2333.9 2033.5 2166.9 90.56 10.42 307 2193.75 0.00 0.24 3.71 0.000 0.074 0.126 2402.34 2473.44 2331.25 2077.31 683.00 0 0 0 30.00 15.89 15.86

2223.33 21639 146.63 1.07 0.00 2403.7 2475.1 2332.3 2077.4 683.1 85.46 14.12 312 2230.74 0.00 0.28 3.40 0.000 0.175 0.060 2404.97 2475.44 2334.50 2041.38 2168.62 0 0 0 30.00 15.84 15.89

2418.34 19079 146.63 1.16 -80.00 2403.7 2475.2 2332.1 2041.4 2169.2 64.68 10.21 332 2425.93 0.00 0.22 3.72 0.000 0.080 0.126 2401.91 2473.38 2330.44 2081.06 682.94 0 0 0 30.00 15.93 15.89

2464.50 21639 146.63 1.04 0.00 2403.4 2475.3 2331.6 2080.5 683.3 58.58 14.01 341 2471.95 0.00 0.34 3.40 0.000 0.168 0.059 2401.84 2473.75 2329.94 2035.94 2170.25 0 0 0 30.00 15.89 15.94

2654.53 18563 146.63 1.15 0.00 2403.2 2475.1 2331.4 2035.2 2170.2 39.18 10.23 371 2659.40 0.00 0.25 0.00 0.000 0.077 0.000 2403.28 2474.81 2331.75 2079.19 2170.50 0 0 0 30.00 15.96 30.00

2842.73 16902 146.63 1.15 -80.00 2403.4 2475.2 2331.6 2079.2 2170.1 18.83 9.88 408 2849.80 0.00 0.00 3.69 0.000 0.000 0.126 2403.28 2475.00 2331.56 2079.31 683.50 0 0 0 30.00 30.00 15.97

2918.36 21639 146.63 1.07 0.00 2402.8 2474.9 2330.8 2079.6 683.3 9.88 12.97 423 2925.53 0.00 0.31 3.41 0.000 0.163 0.061 2405.78 2478.56 2333.00 2040.69 2169.88 0 0 0 30.00 15.98 16.02

3109.15 10663 303.48 1.49 80.00 2402.7 2474.7 2330.6 2040.1 2169.2 6.94 -0.33 461 3146.46 33.65 0.76 0.00 0.951 0.066 0.000 2227.59 2301.25 2153.94 2159.12 2169.44 0 0 0 12.02 16.05 30.00

3147 end climb: NO_VERTICAL_VELOCITY

state 3147 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	10	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	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	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3012.7783	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	75	T_RSLEEP	1	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	1790.8589	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	18.028564	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.373041	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.1708856	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	250522,111830,4737.139,-12256.429,30,1.3,31,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,112153,4737.197,-12256.374,2,0.7,4,15.5	MHEAD_RNG_PITCHd_Wd	186.7,367,-20.7,-9.697,-24.08,1600,0.132
SPEED_LIMITS	0.168,0.255	D_GRID	163
TGT_NAME	N	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4737.000,-12256.400

NAV	1653480432,35.3,0,stop	FG_AHR_24Vo	7.325
MODEM_MSG	CACST,8,0,20220525120001.285950,18,14624,35,0269,0000,246,02,02,01,02,1,025,121,0,5,1,0,150,13.1,6.71,-100,-3.71,-01,-0.07,61,925,0025,0,1,00,00*09	FG_AHR_10Vo	15.392
FREEZE	6.75,11.396,-1.541,0,1,0	MEM0	60132,1,0,0
SM_CCo	3451.39,287.78,0.921,0,500.3,522.1,478.4,616.12	MEM1	65508,1,0,0
SM_GC	1.61,0.00,12.73,0.09,0.000,0.065,0.152,497.9,520.0,475.9,194.9,2120.1,0,0,0,30.00,15.55,15.55	MEM2	944452,36,102156,62
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12963,468
IRIDIUM_FIX	4738.33,-12256.21,250522,101039	CAP_FILE_SIZE	318665,0
TCM_TEMP	17.61	SDSIZE	3887104,3869056
SC_FREEKB	3875584	SDFILEDIR	120,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	SOUNDSPEED	1465.0
HUMID	49.29	CURRENT	0.120, 40.0,1
TEMP	10.10	MAGCAL	1.000000,-0.004464,-0.033908,0.003984,1.100493,-0.129172,0.010071,-0.027512,1.074706,65.5,-862.1,-499.2,33,0.0284,0
INTERNAL_PRESSURE	7.978	IMPLIED_C_PITCH	1793,18.18,243,1792.0,18.11
_24V_AH	15.05,8.436	IMPLIED_C_VBD	3036,17.633684,243,3024.4
_10V_AH	15.00,0.000	GPS	250522,122211,4737.086,-12256.280,1,0.8,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	626	1132	10681.59	nil	0	0	0.00
Pitch_motor	30	258	117.51	nil	0	0	0.00
Roll_motor	56	198	169.59	nil	0	0	0.00
Iridium	135	216	442.61	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	1967	5	151.10	SciCon	3155	6	306.62
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1473	0	7.07
Compass	938	5	70.40
RAFOS	488	40	292.88
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
6.65	16386	-102.57	-1.28	0.00	496.2	506.2	486.3	196.1	2129.0	0.00	0.00	0	71.17	61.35	0.00	0.00	0.005	0.000	0.000	2263.44	2304.25	2222.62	195.94	2129.19	0	0	0	15.86	30.00	30.00
71.47	18727	-146.63	-1.33	80.00	2263.3	2303.8	2222.9	196.2	2128.6	3.06	-2.92	12	131.91	35.74	10.03	3.65	0.005	0.259	0.123	3609.34	3662.88	3555.81	1466.81	3614.31	0	0	0	15.90	15.74	15.82
359.54	3205	-146.63	-1.14	0.00	3610.8	3663.1	3558.5	1467.1	3614.4	39.14	-14.47	68	366.55	0.00	0.32	3.45	0.000	0.196	0.055	3611.22	3662.88	3559.56	1514.12	2120.38	0	0	0	30.00	15.85	15.92
547.99	548	-146.63	-1.14	-80.00	3610.8	3662.7	3559.0	1514.1	2120.5	57.79	-9.22	98	554.24	0.00	0.00	3.58	0.000	0.000	0.124	3611.25	3662.88	3559.62	1514.31	681.81	0	0	0	30.00	30.00	15.95
782.40	1156	-146.63	-1.09	0.00	3611.0	3662.6	3559.4	1514.2	681.8	84.82	-11.77	145	789.99	0.00	0.00	3.43	0.000	0.000	0.059	3612.00	3663.50	3560.50	1513.88	2173.81	0	0	0	30.00	30.00	16.03
978.06	516	-146.63	-1.09	-80.00	3611.5	3663.2	3559.8	1513.8	2174.0	105.17	-10.47	165	985.46	0.00	0.00	3.69	0.000	0.000	0.123	3610.94	3662.56	3559.31	1514.25	682.88	0	0	0	30.00	30.00	16.02
1003.92	1028	-146.63	-1.09	0.00	3611.2	3662.6	3559.8	1514.1	683.1	108.11	-10.79	170	1010.08	0.00	0.00	3.38	0.000	0.000	0.057	3612.12	3664.12	3560.12	1514.25	2175.25	0	0	0	30.00	30.00	16.06
1196.97	260	-146.63	-1.09	80.00	3611.8	3663.6	3559.9	1514.2	2175.1	128.14	-10.17	191	1203.25	0.00	0.00	3.51	0.000	0.000	0.126	3611.94	3663.81	3560.06	1514.31	3614.88	0	0	0	30.00	30.00	16.04
1227.08	1156	-146.63	-1.05	0.00	3611.8	3663.3	3560.2	1513.8	3614.8	131.77	-12.10	197	1233.20	0.00	0.00	3.42	0.000	0.000	0.055	3612.12	3663.81	3560.44	1513.56	2121.75	0	0	0	30.00	30.00	16.08
1417.10	128	-146.63	-1.10	0.00	3611.9	3663.3	3560.5	1514.1	2122.1	152.28	-10.76	217	1418.72	0.00	0.00	0.00	0.000	0.000	0.000	3610.62	3662.25	3559.00	1514.12	2121.56	0	0	0	30.00	30.00	30.00
1497	end dive: TARGET_DEPTH_EXCEEDED
state	1497	begin apogee
1498.39	10243	0.00	-0.28	0.00	3612.3	3663.8	3560.9	1513.8	2179.6	160.44	-10.20	225	1608.87	102.50	1.43	0.10	1.133	0.159	0.198	3010.78	3065.06	2956.50	1724.25	2116.81	0	0	0	12.01	16.06	15.73
1610	end apogee: CONTROL_FINISHED_OK
state	1610	begin climb
1610.05	10243	146.63	1.33	0.00	3010.9	3065.8	2956.1	1723.7	2116.4	164.06	0.00	235	1726.72	105.39	2.66	0.00	1.095	0.118	0.000	2414.53	2480.06	2349.00	2113.31	2116.00	0	0	0	11.93	15.73	30.00
1910.28	644	146.63	1.24	-80.00	2407.2	2477.1	2337.4	2113.1	2115.9	127.03	15.17	271	1917.56	0.00	0.00	3.61	0.000	0.000	0.129	2406.78	2477.31	2336.25	2113.88	681.88	0	0	0	30.00	30.00	15.72
1990.41	21639	146.63	1.03	0.00	2405.1	2475.1	2335.0	2113.9	682.2	112.65	18.31	287	1998.47	0.00	0.63	3.43	0.000	0.172	0.061	2405.19	2475.06	2335.31	2032.88	2166.62	0	0	0	30.00	15.77	15.81
2186.16	19079	146.63	1.13	-80.00	2404.5	2475.0	2333.9	2033.5	2166.9	90.56	10.42	307	2193.75	0.00	0.24	3.71	0.000	0.074	0.126	2402.34	2473.44	2331.25	2077.31	683.00	0	0	0	30.00	15.89	15.86
2223.33	21639	146.63	1.07	0.00	2403.7	2475.1	2332.3	2077.4	683.1	85.46	14.12	312	2230.74	0.00	0.28	3.40	0.000	0.175	0.060	2404.97	2475.44	2334.50	2041.38	2168.62	0	0	0	30.00	15.84	15.89
2418.34	19079	146.63	1.16	-80.00	2403.7	2475.2	2332.1	2041.4	2169.2	64.68	10.21	332	2425.93	0.00	0.22	3.72	0.000	0.080	0.126	2401.91	2473.38	2330.44	2081.06	682.94	0	0	0	30.00	15.93	15.89
2464.50	21639	146.63	1.04	0.00	2403.4	2475.3	2331.6	2080.5	683.3	58.58	14.01	341	2471.95	0.00	0.34	3.40	0.000	0.168	0.059	2401.84	2473.75	2329.94	2035.94	2170.25	0	0	0	30.00	15.89	15.94
2654.53	18563	146.63	1.15	0.00	2403.2	2475.1	2331.4	2035.2	2170.2	39.18	10.23	371	2659.40	0.00	0.25	0.00	0.000	0.077	0.000	2403.28	2474.81	2331.75	2079.19	2170.50	0	0	0	30.00	15.96	30.00
2842.73	16902	146.63	1.15	-80.00	2403.4	2475.2	2331.6	2079.2	2170.1	18.83	9.88	408	2849.80	0.00	0.00	3.69	0.000	0.000	0.126	2403.28	2475.00	2331.56	2079.31	683.50	0	0	0	30.00	30.00	15.97
2918.36	21639	146.63	1.07	0.00	2402.8	2474.9	2330.8	2079.6	683.3	9.88	12.97	423	2925.53	0.00	0.31	3.41	0.000	0.163	0.061	2405.78	2478.56	2333.00	2040.69	2169.88	0	0	0	30.00	15.98	16.02
3109.15	10663	303.48	1.49	80.00	2402.7	2474.7	2330.6	2040.1	2169.2	6.94	-0.33	461	3146.46	33.65	0.76	0.00	0.951	0.066	0.000	2227.59	2301.25	2153.94	2159.12	2169.44	0	0	0	12.02	16.05	30.00
3147	end climb: NO_VERTICAL_VELOCITY
state	3147	begin surface