Glider dive log

HoodCanal May22 * SG240 * Dive index * Mission links * Dive 3 * 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 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 3 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 -0.1

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 15 C_VBD 3000.3457 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 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_RSLEEP 3 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 1756.6729 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 21 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 14.707727 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 3.425957 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 3 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 150 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 14.707727 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.425957 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 21 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 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

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 1756.6729 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 65

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 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 3000.3457 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 3 MISSION 2 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 230522,181143,4737.011,-12256.404,1,0.9,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,181429,4737.021,-12256.388,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 191.3,2039,-17.6,-10.000,-21.21,2209,0.143

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,81.000000,-911.000000,-415.000000

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220523190811.172065,06,15930,42,0099,0150,07,01,01,00,01,-1,-01,-01,1,3,-16368,0,150,22.5,0.91,-100,2.09,-01,0.13,59,10000,5000,0,-1,00,00*71 _10V_AH 14.97,0.000

NET_PING 1653332293,25,1553.380371,17.000000,-2.063323 FG_AHR_24Vo 3.582

NAV 1653332831,35.8,0,stop FG_AHR_10Vo 14.733

FINISH 1.7,1.019351 MEM0 60148,1,0,0

SM_CCo 3818.49,234.41,0.950,0,541.4,561.2,521.6,603.09 MEM1 65508,1,0,0

SM_GC 1.70,234.41,11.78,0.09,0.950,0.071,0.154,541.4,561.2,521.6,186.4,2116.6,0,0,0,11.69,16.02,16.04 MEM2 944744,27,102084,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16112,606

IRIDIUM_FIX 4738.33,-12256.21,230522,181010 CAP_FILE_SIZE 398734,0

TCM_TEMP 17.86 SDSIZE 3887104,3873408

SC_FREEKB 3877824 SDFILEDIR 54,1

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 50.44 CURRENT 0.031, 57.1,1

TEMP 10.25 IMPLIED_C_PITCH 1809,17.46,380,1782.8,19.23

INTERNAL_PRESSURE 7.99783 IMPLIED_C_VBD 3015,36.748302,380,3007.7

_24V_AH 15.00,4.325 GPS 230522,191929,4736.725,-12256.718,1,1.1,31,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 625 1126 10573.23 nil 0 0 0.00

Pitch_motor 27 256 107.15 nil 0 0 0.00

Roll_motor 71 199 215.02 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 2.99 nil 0 0 0.00

Core 2317 5 177.63 SciCon 3551 6 350.31

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1288 0 6.17

Compass 1233 5 92.31

RAFOS 860 40 515.56

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

6.70 16386 -146.63 -1.02 0.00 538.6 562.5 514.8 187.5 2129.2 0.00 0.00 0 91.97 81.31 0.00 0.00 0.005 0.000 0.000 2876.25 2908.75 2843.75 187.50 2129.81 0 0 0 16.01 30.00 30.00

92.27 18727 -146.63 -1.02 80.00 2874.2 2906.5 2841.8 187.7 2129.1 3.21 -2.20 16 133.87 17.31 10.01 3.66 0.006 0.257 0.134 3597.44 3654.88 3540.00 1509.31 3616.56 0 0 0 16.04 15.86 15.93

255.83 3205 -146.63 -0.72 0.00 3599.4 3655.1 3543.8 1508.8 3616.0 23.62 -10.72 47 262.99 0.00 0.50 3.47 0.000 0.186 0.057 3599.91 3655.69 3544.12 1582.75 2123.00 0 0 0 30.00 15.95 16.01

444.38 292 -146.63 -0.72 80.00 3599.8 3656.2 3543.4 1583.3 2122.8 35.70 -6.07 85 451.19 0.00 0.00 3.67 0.000 0.000 0.128 3600.25 3656.12 3544.38 1583.25 3615.50 0 0 0 30.00 30.00 16.02

489.73 1188 -146.63 -0.66 0.00 3600.2 3656.4 3544.0 1582.2 3615.3 39.15 -7.62 94 496.33 0.00 0.00 3.44 0.000 0.000 0.057 3602.38 3657.44 3547.31 1581.75 2119.50 0 0 0 30.00 30.00 16.07

679.83 160 -146.63 -0.69 0.00 3600.4 3656.8 3544.0 1582.6 2119.8 52.61 -7.43 132 684.36 0.00 0.00 0.00 0.000 0.000 0.000 3599.50 3655.75 3543.25 1582.88 2119.75 0 0 0 30.00 30.00 30.00

867.21 420 -146.63 -0.75 80.00 3600.4 3657.2 3543.6 1583.1 2119.4 67.17 -8.45 167 874.05 0.00 0.00 3.67 0.000 0.000 0.129 3600.91 3657.25 3544.56 1582.62 3616.19 0 0 0 30.00 30.00 16.05

932.50 1060 -146.63 -0.75 0.00 3600.2 3656.4 3544.1 1582.1 3616.6 73.50 -9.86 180 939.21 0.00 0.00 3.42 0.000 0.000 0.056 3602.12 3657.88 3546.38 1582.38 2119.62 0 0 0 30.00 30.00 16.10

1122.74 160 -146.63 -0.81 0.00 3600.2 3656.7 3543.7 1582.6 2119.8 89.08 -7.99 218 1127.28 0.00 0.00 0.00 0.000 0.000 0.000 3600.19 3656.31 3544.06 1582.56 2119.62 0 0 0 30.00 30.00 30.00

1312.77 4517 -146.63 -0.87 80.00 3600.7 3656.9 3544.5 1582.2 2119.6 104.09 -7.92 251 1320.06 0.00 0.32 3.65 0.000 0.074 0.125 3600.12 3657.12 3543.12 1527.19 3615.75 0 0 0 30.00 16.12 16.09

1348.54 3205 -146.63 -0.77 0.00 3600.8 3657.5 3544.2 1527.8 3615.7 108.04 -11.00 258 1355.74 0.00 0.34 3.39 0.000 0.180 0.056 3600.59 3657.06 3544.12 1570.75 2123.31 0 0 0 30.00 16.07 16.13

1662.61 420 -146.63 -0.82 80.00 3600.4 3656.7 3544.1 1570.3 2123.2 135.34 -8.58 290 1669.64 0.00 0.00 3.64 0.000 0.000 0.127 3600.72 3657.06 3544.38 1568.25 3616.31 0 0 0 30.00 30.00 16.11

1722.31 1028 -146.63 -0.82 0.00 3600.4 3656.6 3544.3 1570.2 3616.8 141.42 -10.32 302 1729.80 0.00 0.00 3.41 0.000 0.000 0.056 3600.78 3656.69 3544.88 1570.19 2121.69 0 0 0 30.00 30.00 16.15

1828 end dive: TARGET_DEPTH_EXCEEDED

state 1828 begin apogee

1829.39 10243 0.00 -0.24 0.00 3600.3 3656.4 3544.2 1570.1 2179.2 150.79 -8.55 313 1937.91 101.60 0.84 0.10 1.126 0.148 0.200 2999.44 3056.81 2942.06 1697.38 2117.56 0 0 0 11.80 16.10 15.80

1939 end apogee: CONTROL_FINISHED_OK

state 1939 begin climb

1939.03 10759 146.63 1.02 -80.00 2998.3 3056.1 2940.5 1699.4 2117.2 155.08 0.00 323 2059.43 105.88 2.04 3.73 1.089 0.126 0.129 2400.50 2471.75 2329.25 2004.38 683.94 0 0 0 11.81 15.79 15.56

2082.90 9254 172.91 1.05 0.00 2394.9 2467.1 2322.6 2003.8 684.1 146.58 8.78 349 2111.08 20.67 0.00 3.47 0.994 0.000 0.061 2292.69 2368.44 2216.94 2004.31 2170.50 0 0 0 11.65 30.00 15.67

2417.99 10919 201.71 1.18 -80.00 2289.2 2368.6 2209.9 2003.9 2170.2 117.00 8.67 385 2451.22 22.62 0.25 3.80 1.003 0.083 0.125 2176.53 2256.19 2096.88 2054.19 680.75 0 0 0 11.74 15.92 15.81

2579.74 5253 201.71 1.09 0.00 2171.1 2251.6 2090.6 2054.2 680.8 95.77 14.32 417 2591.67 0.00 0.31 3.42 0.000 0.158 0.064 2171.06 2252.19 2089.94 2014.19 2167.19 0 0 0 30.00 15.88 15.93

2774.29 10919 237.56 1.26 -80.00 2170.1 2251.8 2088.5 2013.7 2167.3 78.13 8.34 453 2812.89 27.20 0.34 3.78 0.996 0.076 0.125 2028.94 2114.12 1943.75 2070.81 682.00 0 0 0 11.75 15.97 15.85

2881.39 5253 237.56 1.18 0.00 2026.2 2112.1 1940.2 2070.7 682.1 64.08 14.78 474 2888.26 0.00 0.28 3.42 0.000 0.153 0.062 2027.38 2114.25 1940.50 2033.75 2169.25 0 0 0 30.00 15.87 15.91

3071.78 10919 242.82 1.30 -80.00 2024.2 2112.1 1936.4 2033.6 2169.1 44.36 9.76 512 3085.18 5.59 0.26 3.75 0.639 0.082 0.124 2006.94 2095.81 1918.06 2078.19 682.00 0 0 0 11.77 15.96 15.91

3154.03 5253 242.82 1.23 0.00 2007.9 2095.5 1920.2 2077.9 681.9 32.70 15.31 528 3160.91 0.00 0.26 3.41 0.000 0.158 0.063 2009.09 2096.88 1921.31 2045.31 2169.12 0 0 0 30.00 15.94 15.98

3342.80 10919 252.36 1.37 -80.00 2007.0 2095.7 1918.3 2045.0 2169.4 13.59 9.56 565 3360.42 9.18 0.31 3.74 0.814 0.082 0.124 1970.62 2061.56 1879.69 2096.06 684.19 0 0 0 11.83 16.03 15.97

3398.82 1028 252.36 1.37 0.00 1968.8 2059.1 1878.4 2095.8 684.3 7.36 11.57 576 3405.53 0.00 0.00 3.38 0.000 0.000 0.061 1970.81 2061.00 1880.62 2095.75 2169.81 0 0 0 30.00 30.00 16.01

3499 end climb: SURFACE_DEPTH_REACHED

state 3499 begin surface coast

3549 end surface coast: CONTROL_FINISHED_OK

state 3549 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	3	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	-0.1
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	15	C_VBD	3000.3457	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	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_RSLEEP	3	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	1756.6729	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	21	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	14.707727	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	3.425957	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	230522,181143,4737.011,-12256.404,1,0.9,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,181429,4737.021,-12256.388,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	191.3,2039,-17.6,-10.000,-21.21,2209,0.143
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,81.000000,-911.000000,-415.000000
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220523190811.172065,06,15930,42,0099,0150,07,01,01,00,01,-1,-01,-01,1,3,-16368,0,150,22.5,0.91,-100,2.09,-01,0.13,59,10000,5000,0,-1,00,00*71	_10V_AH	14.97,0.000
NET_PING	1653332293,25,1553.380371,17.000000,-2.063323	FG_AHR_24Vo	3.582
NAV	1653332831,35.8,0,stop	FG_AHR_10Vo	14.733
FINISH	1.7,1.019351	MEM0	60148,1,0,0
SM_CCo	3818.49,234.41,0.950,0,541.4,561.2,521.6,603.09	MEM1	65508,1,0,0
SM_GC	1.70,234.41,11.78,0.09,0.950,0.071,0.154,541.4,561.2,521.6,186.4,2116.6,0,0,0,11.69,16.02,16.04	MEM2	944744,27,102084,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16112,606
IRIDIUM_FIX	4738.33,-12256.21,230522,181010	CAP_FILE_SIZE	398734,0
TCM_TEMP	17.86	SDSIZE	3887104,3873408
SC_FREEKB	3877824	SDFILEDIR	54,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	50.44	CURRENT	0.031, 57.1,1
TEMP	10.25	IMPLIED_C_PITCH	1809,17.46,380,1782.8,19.23
INTERNAL_PRESSURE	7.99783	IMPLIED_C_VBD	3015,36.748302,380,3007.7
_24V_AH	15.00,4.325	GPS	230522,191929,4736.725,-12256.718,1,1.1,31,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	625	1126	10573.23	nil	0	0	0.00
Pitch_motor	27	256	107.15	nil	0	0	0.00
Roll_motor	71	199	215.02	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	2.99	nil	0	0	0.00
Core	2317	5	177.63	SciCon	3551	6	350.31
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1288	0	6.17
Compass	1233	5	92.31
RAFOS	860	40	515.56
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
6.70	16386	-146.63	-1.02	0.00	538.6	562.5	514.8	187.5	2129.2	0.00	0.00	0	91.97	81.31	0.00	0.00	0.005	0.000	0.000	2876.25	2908.75	2843.75	187.50	2129.81	0	0	0	16.01	30.00	30.00
92.27	18727	-146.63	-1.02	80.00	2874.2	2906.5	2841.8	187.7	2129.1	3.21	-2.20	16	133.87	17.31	10.01	3.66	0.006	0.257	0.134	3597.44	3654.88	3540.00	1509.31	3616.56	0	0	0	16.04	15.86	15.93
255.83	3205	-146.63	-0.72	0.00	3599.4	3655.1	3543.8	1508.8	3616.0	23.62	-10.72	47	262.99	0.00	0.50	3.47	0.000	0.186	0.057	3599.91	3655.69	3544.12	1582.75	2123.00	0	0	0	30.00	15.95	16.01
444.38	292	-146.63	-0.72	80.00	3599.8	3656.2	3543.4	1583.3	2122.8	35.70	-6.07	85	451.19	0.00	0.00	3.67	0.000	0.000	0.128	3600.25	3656.12	3544.38	1583.25	3615.50	0	0	0	30.00	30.00	16.02
489.73	1188	-146.63	-0.66	0.00	3600.2	3656.4	3544.0	1582.2	3615.3	39.15	-7.62	94	496.33	0.00	0.00	3.44	0.000	0.000	0.057	3602.38	3657.44	3547.31	1581.75	2119.50	0	0	0	30.00	30.00	16.07
679.83	160	-146.63	-0.69	0.00	3600.4	3656.8	3544.0	1582.6	2119.8	52.61	-7.43	132	684.36	0.00	0.00	0.00	0.000	0.000	0.000	3599.50	3655.75	3543.25	1582.88	2119.75	0	0	0	30.00	30.00	30.00
867.21	420	-146.63	-0.75	80.00	3600.4	3657.2	3543.6	1583.1	2119.4	67.17	-8.45	167	874.05	0.00	0.00	3.67	0.000	0.000	0.129	3600.91	3657.25	3544.56	1582.62	3616.19	0	0	0	30.00	30.00	16.05
932.50	1060	-146.63	-0.75	0.00	3600.2	3656.4	3544.1	1582.1	3616.6	73.50	-9.86	180	939.21	0.00	0.00	3.42	0.000	0.000	0.056	3602.12	3657.88	3546.38	1582.38	2119.62	0	0	0	30.00	30.00	16.10
1122.74	160	-146.63	-0.81	0.00	3600.2	3656.7	3543.7	1582.6	2119.8	89.08	-7.99	218	1127.28	0.00	0.00	0.00	0.000	0.000	0.000	3600.19	3656.31	3544.06	1582.56	2119.62	0	0	0	30.00	30.00	30.00
1312.77	4517	-146.63	-0.87	80.00	3600.7	3656.9	3544.5	1582.2	2119.6	104.09	-7.92	251	1320.06	0.00	0.32	3.65	0.000	0.074	0.125	3600.12	3657.12	3543.12	1527.19	3615.75	0	0	0	30.00	16.12	16.09
1348.54	3205	-146.63	-0.77	0.00	3600.8	3657.5	3544.2	1527.8	3615.7	108.04	-11.00	258	1355.74	0.00	0.34	3.39	0.000	0.180	0.056	3600.59	3657.06	3544.12	1570.75	2123.31	0	0	0	30.00	16.07	16.13
1662.61	420	-146.63	-0.82	80.00	3600.4	3656.7	3544.1	1570.3	2123.2	135.34	-8.58	290	1669.64	0.00	0.00	3.64	0.000	0.000	0.127	3600.72	3657.06	3544.38	1568.25	3616.31	0	0	0	30.00	30.00	16.11
1722.31	1028	-146.63	-0.82	0.00	3600.4	3656.6	3544.3	1570.2	3616.8	141.42	-10.32	302	1729.80	0.00	0.00	3.41	0.000	0.000	0.056	3600.78	3656.69	3544.88	1570.19	2121.69	0	0	0	30.00	30.00	16.15
1828	end dive: TARGET_DEPTH_EXCEEDED
state	1828	begin apogee
1829.39	10243	0.00	-0.24	0.00	3600.3	3656.4	3544.2	1570.1	2179.2	150.79	-8.55	313	1937.91	101.60	0.84	0.10	1.126	0.148	0.200	2999.44	3056.81	2942.06	1697.38	2117.56	0	0	0	11.80	16.10	15.80
1939	end apogee: CONTROL_FINISHED_OK
state	1939	begin climb
1939.03	10759	146.63	1.02	-80.00	2998.3	3056.1	2940.5	1699.4	2117.2	155.08	0.00	323	2059.43	105.88	2.04	3.73	1.089	0.126	0.129	2400.50	2471.75	2329.25	2004.38	683.94	0	0	0	11.81	15.79	15.56
2082.90	9254	172.91	1.05	0.00	2394.9	2467.1	2322.6	2003.8	684.1	146.58	8.78	349	2111.08	20.67	0.00	3.47	0.994	0.000	0.061	2292.69	2368.44	2216.94	2004.31	2170.50	0	0	0	11.65	30.00	15.67
2417.99	10919	201.71	1.18	-80.00	2289.2	2368.6	2209.9	2003.9	2170.2	117.00	8.67	385	2451.22	22.62	0.25	3.80	1.003	0.083	0.125	2176.53	2256.19	2096.88	2054.19	680.75	0	0	0	11.74	15.92	15.81
2579.74	5253	201.71	1.09	0.00	2171.1	2251.6	2090.6	2054.2	680.8	95.77	14.32	417	2591.67	0.00	0.31	3.42	0.000	0.158	0.064	2171.06	2252.19	2089.94	2014.19	2167.19	0	0	0	30.00	15.88	15.93
2774.29	10919	237.56	1.26	-80.00	2170.1	2251.8	2088.5	2013.7	2167.3	78.13	8.34	453	2812.89	27.20	0.34	3.78	0.996	0.076	0.125	2028.94	2114.12	1943.75	2070.81	682.00	0	0	0	11.75	15.97	15.85
2881.39	5253	237.56	1.18	0.00	2026.2	2112.1	1940.2	2070.7	682.1	64.08	14.78	474	2888.26	0.00	0.28	3.42	0.000	0.153	0.062	2027.38	2114.25	1940.50	2033.75	2169.25	0	0	0	30.00	15.87	15.91
3071.78	10919	242.82	1.30	-80.00	2024.2	2112.1	1936.4	2033.6	2169.1	44.36	9.76	512	3085.18	5.59	0.26	3.75	0.639	0.082	0.124	2006.94	2095.81	1918.06	2078.19	682.00	0	0	0	11.77	15.96	15.91
3154.03	5253	242.82	1.23	0.00	2007.9	2095.5	1920.2	2077.9	681.9	32.70	15.31	528	3160.91	0.00	0.26	3.41	0.000	0.158	0.063	2009.09	2096.88	1921.31	2045.31	2169.12	0	0	0	30.00	15.94	15.98
3342.80	10919	252.36	1.37	-80.00	2007.0	2095.7	1918.3	2045.0	2169.4	13.59	9.56	565	3360.42	9.18	0.31	3.74	0.814	0.082	0.124	1970.62	2061.56	1879.69	2096.06	684.19	0	0	0	11.83	16.03	15.97
3398.82	1028	252.36	1.37	0.00	1968.8	2059.1	1878.4	2095.8	684.3	7.36	11.57	576	3405.53	0.00	0.00	3.38	0.000	0.000	0.061	1970.81	2061.00	1880.62	2095.75	2169.81	0	0	0	30.00	30.00	16.01
3499	end climb: SURFACE_DEPTH_REACHED
state	3499	begin surface coast
3549	end surface coast: CONTROL_FINISHED_OK
state	3549	begin surface