Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 18 * 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 7 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 18 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 611.3277 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 175 COMM_SEQ 7 C_VBD 3032.9844 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 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 1749.2656 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 18.394096 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.992846 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 30.859303 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 -189.03369 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 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 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.992846 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.859303 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 18.394096 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 7 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 1749.2656 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 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 3032.9844 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 18 MISSION 7 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 250522,232852,4736.205,-12256.816,11,2.0,13,15.5 TGT_RADIUS 300.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,233620,4736.271,-12256.719,2,1.5,3,15.5 MHEAD_RNG_PITCHd_Wd 200.1,612,-19.6,-9.697,-23.06,1777,0.142

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET xm1t part outbox0008.n 1042 3 _10V_AH 14.82,0.000

NET_PING 1653524536,25,1967.394043,20.600000,-2.613912 FG_AHR_24Vo 31.023

NAV 1653525532,0.2,0,stop FG_AHR_10Vo 20.023

MODEM_MSG CACST,8,1,20220526000430.154081,18,32767,45,0345,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,7.5,0.48,-100,2.52,-01,0.02,64,925,0025,0,-1,00,00*07 MEM0 60132,1,0,0

FINISH 0.3,1.020638 MEM1 65508,1,0,0

SM_CCo 3721.75,240.13,0.893,0,540.8,598.2,483.4,611.09 MEM2 944636,31,102072,62

SM_GC 1.04,240.13,11.85,0.10,0.893,0.100,0.142,540.8,598.2,483.4,199.4,2184.6,0,0,0,11.80,15.85,15.90 DATA_FILE_SIZE 12956,471

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 338960,0

IRIDIUM_FIX 4736.87,-12256.21,250522,233147 SDSIZE 3887104,3865792

TCM_TEMP 12.93 SDFILEDIR 188,1

SC_FREEKB 3873024 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

MODEM 0,1653523320,47.61230,-122.96660,120.243,176155.8 CURRENT 0.063, 40.8,1

RAFOS_FIX 4733.292969,-12314.393555,250522,202002,2,510,8389.81 MAGCAL 1.000000,0.019911,0.030898,-0.098570,1.110981,-0.026967,0.023441,-0.524095,1.022894,454.3,-1289.2,-181.4,28,0.0622,0

HUMID 48.69 IMPLIED_C_PITCH 1751,18.09,264,1750.1,18.24

TEMP 10.43 IMPLIED_C_VBD 2995,26.957201,264,3013.8

INTERNAL_PRESSURE 8.10231 GPS 260522,003931,4736.032,-12256.938,12,0.9,18,15.5

_24V_AH 14.81,10.971

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 684 1084 10989.64 nil 0 0 0.00

Pitch_motor 29 282 124.11 nil 0 0 0.00

Roll_motor 56 171 144.30 nil 0 0 0.00

Iridium 258 219 840.72 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.87 nil 0 0 0.00

Core 2293 5 174.00 SciCon 3453 6 353.35

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1594 0 7.56

Compass 962 5 71.31

RAFOS 1079 40 640.14

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

6.62 16386 -114.08 -1.21 0.00 538.6 604.3 472.8 197.9 2109.4 0.00 0.00 0 112.58 101.30 0.00 0.00 0.005 0.000 0.000 2799.53 2773.69 2825.38 197.38 2108.94 0 0 0 15.89 30.00 30.00

112.89 18467 -146.63 -1.25 0.00 2798.4 2772.9 2824.0 197.2 2108.8 3.43 -2.40 20 151.78 21.93 10.06 0.00 0.006 0.283 0.000 3628.72 3618.62 3638.81 1447.44 2107.75 0 0 0 15.94 15.76 30.00

336.67 388 -146.63 -1.18 80.00 3631.3 3626.1 3636.6 1447.9 2107.9 32.79 -11.54 64 343.45 0.00 0.00 3.66 0.000 0.000 0.101 3630.81 3625.94 3635.69 1447.31 3619.19 0 0 0 30.00 30.00 15.90

381.92 3205 -146.63 -1.02 0.00 3630.9 3626.0 3635.8 1447.6 3619.0 38.77 -13.74 73 388.82 0.00 0.40 3.38 0.000 0.183 0.045 3632.56 3627.44 3637.69 1503.38 2117.06 0 0 0 30.00 15.89 15.94

577.41 160 -146.63 -1.07 0.00 3631.5 3627.3 3635.7 1504.0 2117.4 56.50 -8.92 105 579.02 0.00 0.00 0.00 0.000 0.000 0.000 3630.91 3626.62 3635.19 1503.38 2117.00 0 0 0 30.00 30.00 30.00

767.44 4517 -146.63 -1.13 80.00 3631.4 3627.5 3635.4 1503.4 2117.6 73.47 -9.21 124 774.89 0.00 0.28 3.62 0.000 0.088 0.101 3632.28 3628.31 3636.25 1462.25 3621.69 0 0 0 30.00 16.02 16.01

843.46 3205 -146.63 -0.98 0.00 3631.3 3627.4 3635.2 1462.1 3621.8 83.01 -12.89 139 850.92 0.00 0.42 3.37 0.000 0.184 0.046 3631.06 3627.38 3634.75 1512.75 2116.19 0 0 0 30.00 16.00 16.05

1038.54 160 -146.63 -1.04 0.00 3631.6 3627.9 3635.2 1512.8 2115.9 101.27 -8.85 159 1040.15 0.00 0.00 0.00 0.000 0.000 0.000 3631.34 3628.31 3634.38 1512.06 2115.44 0 0 0 30.00 30.00 30.00

1228.56 4517 -146.63 -1.11 80.00 3631.6 3628.2 3634.9 1512.4 2116.3 118.34 -9.16 178 1236.00 0.00 0.28 3.62 0.000 0.089 0.102 3632.78 3629.12 3636.44 1465.81 3620.50 0 0 0 30.00 16.07 16.06

1264.59 3205 -146.63 -0.98 0.00 3631.5 3628.6 3634.5 1466.2 3620.6 122.75 -12.66 185 1271.95 0.00 0.39 3.35 0.000 0.183 0.046 3632.91 3628.62 3637.19 1512.12 2115.81 0 0 0 30.00 16.04 16.09

1454.35 420 -146.63 -1.05 80.00 3631.8 3628.7 3634.9 1511.9 2114.1 140.98 -9.28 204 1461.58 0.00 0.00 3.62 0.000 0.000 0.102 3632.97 3629.62 3636.31 1512.38 3616.81 0 0 0 30.00 30.00 16.06

1490.06 1028 -146.63 -1.05 0.00 3631.8 3628.1 3635.4 1512.1 3615.6 144.73 -10.47 211 1496.23 0.00 0.00 3.35 0.000 0.000 0.045 3631.28 3628.19 3634.38 1512.19 2114.75 0 0 0 30.00 30.00 16.08

1660 end dive: TARGET_DEPTH_EXCEEDED

state 1660 begin apogee

1661.46 10243 0.00 -0.27 0.00 3632.0 3628.8 3635.2 1512.3 2184.1 160.76 -9.45 229 1781.26 110.94 1.18 0.11 1.084 0.154 0.172 3030.78 3083.81 2977.75 1684.88 2108.88 0 0 0 11.99 16.01 15.69

1782 end apogee: CONTROL_FINISHED_OK

state 1782 begin climb

1782.46 10243 146.63 1.25 0.00 3030.8 3083.8 2977.7 1683.9 2108.1 164.54 0.00 240 1909.40 114.68 2.53 0.00 1.039 0.116 0.000 2433.62 2499.25 2368.00 2053.25 2108.94 0 0 0 11.93 15.68 30.00

2090.95 4485 146.63 1.13 80.00 2427.6 2488.5 2366.7 2053.2 2108.5 130.36 13.88 271 2098.56 0.00 0.31 3.71 0.000 0.185 0.105 2426.28 2487.81 2364.75 2016.38 3615.81 0 0 0 30.00 15.69 15.73

2124.80 21639 146.63 0.72 0.00 2425.5 2484.9 2366.0 2016.4 3614.3 125.54 14.13 277 2132.63 0.00 0.68 3.43 0.000 0.176 0.046 2425.81 2484.94 2366.69 1919.00 2118.62 0 0 0 30.00 15.69 15.58

2320.45 10403 195.10 0.97 0.00 2424.9 2484.6 2365.2 1918.9 2118.6 110.80 6.91 297 2362.84 38.76 0.47 0.00 0.986 0.074 0.000 2238.22 2311.31 2165.12 1990.94 2118.69 0 0 0 11.64 15.88 30.00

2550.45 388 195.10 1.04 80.00 2232.0 2302.2 2161.8 1990.8 2118.4 86.49 10.75 321 2557.77 0.00 0.00 3.69 0.000 0.000 0.107 2230.47 2300.31 2160.62 1991.31 3617.94 0 0 0 30.00 30.00 15.86

2616.26 1028 195.10 1.04 0.00 2229.8 2298.2 2161.4 1991.0 3617.8 78.41 12.43 334 2622.57 0.00 0.00 3.40 0.000 0.000 0.046 2231.81 2299.38 2164.25 1992.25 2118.75 0 0 0 30.00 30.00 15.91

2806.37 2177 195.10 1.12 0.00 2229.9 2298.1 2161.8 1992.1 2118.1 57.76 10.59 354 2808.18 0.00 0.18 0.00 0.000 0.089 0.000 2229.62 2298.06 2161.19 2033.31 2118.50 0 0 0 30.00 15.94 30.00

2991.34 260 195.10 1.12 80.00 2229.8 2298.0 2161.5 2033.3 2118.9 35.52 11.90 384 2998.37 0.00 0.00 3.63 0.000 0.000 0.107 2231.97 2299.56 2164.38 2033.88 3616.38 0 0 0 30.00 30.00 15.97

3026.93 5253 195.10 1.06 0.00 2228.8 2296.2 2161.3 2033.2 3616.5 30.73 13.77 391 3033.98 0.00 0.28 3.38 0.000 0.180 0.046 2231.38 2298.31 2164.44 1997.50 2118.31 0 0 0 30.00 15.94 16.01

3217.29 10663 225.74 1.22 80.00 2229.0 2296.1 2161.8 1998.2 2117.4 13.08 7.93 427 3250.98 24.74 0.32 3.66 0.917 0.078 0.107 2109.78 2186.19 2033.38 2052.06 3617.38 0 0 0 11.92 16.01 15.91

3259.58 9382 265.66 1.33 0.00 2108.2 2183.4 2033.1 2051.9 3617.8 9.95 7.40 435 3302.34 31.98 0.00 3.39 0.903 0.000 0.045 1947.62 2036.00 1859.25 2052.25 2116.38 0 0 0 11.87 30.00 15.94

3399 end climb: SURFACE_DEPTH_REACHED

state 3399 begin surface coast

3444 end surface coast: CONTROL_FINISHED_OK

state 3444 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	18	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	611.3277	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	175	COMM_SEQ	7	C_VBD	3032.9844	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	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	1749.2656	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	18.394096	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.992846	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	30.859303	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	-189.03369	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	250522,232852,4736.205,-12256.816,11,2.0,13,15.5	TGT_RADIUS	300.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,233620,4736.271,-12256.719,2,1.5,3,15.5	MHEAD_RNG_PITCHd_Wd	200.1,612,-19.6,-9.697,-23.06,1777,0.142
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887
TGT_LATLONG	4736.000,-12257.000

NET	xm1t part outbox0008.n 1042 3	_10V_AH	14.82,0.000
NET_PING	1653524536,25,1967.394043,20.600000,-2.613912	FG_AHR_24Vo	31.023
NAV	1653525532,0.2,0,stop	FG_AHR_10Vo	20.023
MODEM_MSG	CACST,8,1,20220526000430.154081,18,32767,45,0345,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,7.5,0.48,-100,2.52,-01,0.02,64,925,0025,0,-1,00,00*07	MEM0	60132,1,0,0
FINISH	0.3,1.020638	MEM1	65508,1,0,0
SM_CCo	3721.75,240.13,0.893,0,540.8,598.2,483.4,611.09	MEM2	944636,31,102072,62
SM_GC	1.04,240.13,11.85,0.10,0.893,0.100,0.142,540.8,598.2,483.4,199.4,2184.6,0,0,0,11.80,15.85,15.90	DATA_FILE_SIZE	12956,471
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	338960,0
IRIDIUM_FIX	4736.87,-12256.21,250522,233147	SDSIZE	3887104,3865792
TCM_TEMP	12.93	SDFILEDIR	188,1
SC_FREEKB	3873024	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
MODEM	0,1653523320,47.61230,-122.96660,120.243,176155.8	CURRENT	0.063, 40.8,1
RAFOS_FIX	4733.292969,-12314.393555,250522,202002,2,510,8389.81	MAGCAL	1.000000,0.019911,0.030898,-0.098570,1.110981,-0.026967,0.023441,-0.524095,1.022894,454.3,-1289.2,-181.4,28,0.0622,0
HUMID	48.69	IMPLIED_C_PITCH	1751,18.09,264,1750.1,18.24
TEMP	10.43	IMPLIED_C_VBD	2995,26.957201,264,3013.8
INTERNAL_PRESSURE	8.10231	GPS	260522,003931,4736.032,-12256.938,12,0.9,18,15.5
_24V_AH	14.81,10.971

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	684	1084	10989.64	nil	0	0	0.00
Pitch_motor	29	282	124.11	nil	0	0	0.00
Roll_motor	56	171	144.30	nil	0	0	0.00
Iridium	258	219	840.72	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.87	nil	0	0	0.00
Core	2293	5	174.00	SciCon	3453	6	353.35
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1594	0	7.56
Compass	962	5	71.31
RAFOS	1079	40	640.14
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
6.62	16386	-114.08	-1.21	0.00	538.6	604.3	472.8	197.9	2109.4	0.00	0.00	0	112.58	101.30	0.00	0.00	0.005	0.000	0.000	2799.53	2773.69	2825.38	197.38	2108.94	0	0	0	15.89	30.00	30.00
112.89	18467	-146.63	-1.25	0.00	2798.4	2772.9	2824.0	197.2	2108.8	3.43	-2.40	20	151.78	21.93	10.06	0.00	0.006	0.283	0.000	3628.72	3618.62	3638.81	1447.44	2107.75	0	0	0	15.94	15.76	30.00
336.67	388	-146.63	-1.18	80.00	3631.3	3626.1	3636.6	1447.9	2107.9	32.79	-11.54	64	343.45	0.00	0.00	3.66	0.000	0.000	0.101	3630.81	3625.94	3635.69	1447.31	3619.19	0	0	0	30.00	30.00	15.90
381.92	3205	-146.63	-1.02	0.00	3630.9	3626.0	3635.8	1447.6	3619.0	38.77	-13.74	73	388.82	0.00	0.40	3.38	0.000	0.183	0.045	3632.56	3627.44	3637.69	1503.38	2117.06	0	0	0	30.00	15.89	15.94
577.41	160	-146.63	-1.07	0.00	3631.5	3627.3	3635.7	1504.0	2117.4	56.50	-8.92	105	579.02	0.00	0.00	0.00	0.000	0.000	0.000	3630.91	3626.62	3635.19	1503.38	2117.00	0	0	0	30.00	30.00	30.00
767.44	4517	-146.63	-1.13	80.00	3631.4	3627.5	3635.4	1503.4	2117.6	73.47	-9.21	124	774.89	0.00	0.28	3.62	0.000	0.088	0.101	3632.28	3628.31	3636.25	1462.25	3621.69	0	0	0	30.00	16.02	16.01
843.46	3205	-146.63	-0.98	0.00	3631.3	3627.4	3635.2	1462.1	3621.8	83.01	-12.89	139	850.92	0.00	0.42	3.37	0.000	0.184	0.046	3631.06	3627.38	3634.75	1512.75	2116.19	0	0	0	30.00	16.00	16.05
1038.54	160	-146.63	-1.04	0.00	3631.6	3627.9	3635.2	1512.8	2115.9	101.27	-8.85	159	1040.15	0.00	0.00	0.00	0.000	0.000	0.000	3631.34	3628.31	3634.38	1512.06	2115.44	0	0	0	30.00	30.00	30.00
1228.56	4517	-146.63	-1.11	80.00	3631.6	3628.2	3634.9	1512.4	2116.3	118.34	-9.16	178	1236.00	0.00	0.28	3.62	0.000	0.089	0.102	3632.78	3629.12	3636.44	1465.81	3620.50	0	0	0	30.00	16.07	16.06
1264.59	3205	-146.63	-0.98	0.00	3631.5	3628.6	3634.5	1466.2	3620.6	122.75	-12.66	185	1271.95	0.00	0.39	3.35	0.000	0.183	0.046	3632.91	3628.62	3637.19	1512.12	2115.81	0	0	0	30.00	16.04	16.09
1454.35	420	-146.63	-1.05	80.00	3631.8	3628.7	3634.9	1511.9	2114.1	140.98	-9.28	204	1461.58	0.00	0.00	3.62	0.000	0.000	0.102	3632.97	3629.62	3636.31	1512.38	3616.81	0	0	0	30.00	30.00	16.06
1490.06	1028	-146.63	-1.05	0.00	3631.8	3628.1	3635.4	1512.1	3615.6	144.73	-10.47	211	1496.23	0.00	0.00	3.35	0.000	0.000	0.045	3631.28	3628.19	3634.38	1512.19	2114.75	0	0	0	30.00	30.00	16.08
1660	end dive: TARGET_DEPTH_EXCEEDED
state	1660	begin apogee
1661.46	10243	0.00	-0.27	0.00	3632.0	3628.8	3635.2	1512.3	2184.1	160.76	-9.45	229	1781.26	110.94	1.18	0.11	1.084	0.154	0.172	3030.78	3083.81	2977.75	1684.88	2108.88	0	0	0	11.99	16.01	15.69
1782	end apogee: CONTROL_FINISHED_OK
state	1782	begin climb
1782.46	10243	146.63	1.25	0.00	3030.8	3083.8	2977.7	1683.9	2108.1	164.54	0.00	240	1909.40	114.68	2.53	0.00	1.039	0.116	0.000	2433.62	2499.25	2368.00	2053.25	2108.94	0	0	0	11.93	15.68	30.00
2090.95	4485	146.63	1.13	80.00	2427.6	2488.5	2366.7	2053.2	2108.5	130.36	13.88	271	2098.56	0.00	0.31	3.71	0.000	0.185	0.105	2426.28	2487.81	2364.75	2016.38	3615.81	0	0	0	30.00	15.69	15.73
2124.80	21639	146.63	0.72	0.00	2425.5	2484.9	2366.0	2016.4	3614.3	125.54	14.13	277	2132.63	0.00	0.68	3.43	0.000	0.176	0.046	2425.81	2484.94	2366.69	1919.00	2118.62	0	0	0	30.00	15.69	15.58
2320.45	10403	195.10	0.97	0.00	2424.9	2484.6	2365.2	1918.9	2118.6	110.80	6.91	297	2362.84	38.76	0.47	0.00	0.986	0.074	0.000	2238.22	2311.31	2165.12	1990.94	2118.69	0	0	0	11.64	15.88	30.00
2550.45	388	195.10	1.04	80.00	2232.0	2302.2	2161.8	1990.8	2118.4	86.49	10.75	321	2557.77	0.00	0.00	3.69	0.000	0.000	0.107	2230.47	2300.31	2160.62	1991.31	3617.94	0	0	0	30.00	30.00	15.86
2616.26	1028	195.10	1.04	0.00	2229.8	2298.2	2161.4	1991.0	3617.8	78.41	12.43	334	2622.57	0.00	0.00	3.40	0.000	0.000	0.046	2231.81	2299.38	2164.25	1992.25	2118.75	0	0	0	30.00	30.00	15.91
2806.37	2177	195.10	1.12	0.00	2229.9	2298.1	2161.8	1992.1	2118.1	57.76	10.59	354	2808.18	0.00	0.18	0.00	0.000	0.089	0.000	2229.62	2298.06	2161.19	2033.31	2118.50	0	0	0	30.00	15.94	30.00
2991.34	260	195.10	1.12	80.00	2229.8	2298.0	2161.5	2033.3	2118.9	35.52	11.90	384	2998.37	0.00	0.00	3.63	0.000	0.000	0.107	2231.97	2299.56	2164.38	2033.88	3616.38	0	0	0	30.00	30.00	15.97
3026.93	5253	195.10	1.06	0.00	2228.8	2296.2	2161.3	2033.2	3616.5	30.73	13.77	391	3033.98	0.00	0.28	3.38	0.000	0.180	0.046	2231.38	2298.31	2164.44	1997.50	2118.31	0	0	0	30.00	15.94	16.01
3217.29	10663	225.74	1.22	80.00	2229.0	2296.1	2161.8	1998.2	2117.4	13.08	7.93	427	3250.98	24.74	0.32	3.66	0.917	0.078	0.107	2109.78	2186.19	2033.38	2052.06	3617.38	0	0	0	11.92	16.01	15.91
3259.58	9382	265.66	1.33	0.00	2108.2	2183.4	2033.1	2051.9	3617.8	9.95	7.40	435	3302.34	31.98	0.00	3.39	0.903	0.000	0.045	1947.62	2036.00	1859.25	2052.25	2116.38	0	0	0	11.87	30.00	15.94
3399	end climb: SURFACE_DEPTH_REACHED
state	3399	begin surface coast
3444	end surface coast: CONTROL_FINISHED_OK
state	3444	begin surface