Glider dive log

HoodCanal 21May22 * SG241 * Dive index * Mission links * Dive 3 * 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 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 -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 15 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 70 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 69

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1700 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 21 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.506624 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 23.733913 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 0.5 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 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 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 18.506624 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 23.733913 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 3628 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 70

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -188.51822 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3000 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72520 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 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 3 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 210522,181057,4736.118,-12256.763,9,1.6,13,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -53.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,181434,4736.104,-12256.763,4,1.5,5,15.5 MHEAD_RNG_PITCHd_Wd 225.9,354,-27.2,-9.697,-30.00,954,0.127

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.012212,-0.000804,-0.018407,1.076714,-0.011113,0.012053,-0.061866,1.064122,464.523956,-1301.037720,-268.791016

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220521190011.259296,06,197,22,0091,0150,74,01,01,00,01,-1,-01,-01,2,3,7,0,150,22.0,0.89,-100,2.11,-01,-0.23,49,10000,5000,0,-1,00,00*7D FG_AHR_24Vo 23.896

NET_PING 1653159065,25,1986.023926,16.900000,-0.327196 FG_AHR_10Vo 18.535

NAV 1653159543,3.6,start MEM0 60148,1,0,0

FINISH 1.9,1.021490 MEM1 65508,1,0,0

SM_CCo 3034.82,279.38,0.923,0,541.3,618.4,464.3,603.11 MEM2 944656,33,101972,64

SM_GC 1.63,279.38,12.18,0.09,0.923,0.104,0.150,541.3,618.4,464.3,193.4,2181.1,0,0,0,11.59,15.84,15.88 DATA_FILE_SIZE 9722,410

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 251140,0

IRIDIUM_FIX 4738.33,-12256.21,210522,170015 SDSIZE 3887104,3873056

TCM_TEMP 12.73 SDFILEDIR 56,1

SC_FREEKB 3877824 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 0.046, 87.4,1

HUMID 48.00 MAGCAL 1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.9,-1287.7,-265.9,25,0.0261,1

TEMP 10.09 IMPLIED_C_PITCH 1745,18.43,195,1722.7,19.71

INTERNAL_PRESSURE 8.07656 IMPLIED_C_VBD 2884,13.096003,195,2942.1

_24V_AH 14.69,3.760 GPS 210522,190631,4735.959,-12256.879,10,0.9,33,15.5

_10V_AH 14.72,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 1140 11054.77 nil 0 0 0.00

Pitch_motor 28 286 119.93 nil 0 0 0.00

Roll_motor 49 176 128.41 nil 0 0 0.00

Iridium 153 195 440.05 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.10 nil 0 0 0.00

Core 1726 5 130.13 SciCon 2739 6 281.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1223 0 5.76

Compass 829 5 61.07

RAFOS 1518 40 893.89

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

6.53 16386 -60.85 -1.37 0.00 537.3 611.8 462.8 192.2 2115.8 0.00 0.00 0 115.75 106.58 0.00 0.00 0.005 0.000 0.000 2868.72 2837.69 2899.75 192.38 2115.50 0 0 0 15.74 30.00 30.00

115.98 18727 -134.32 -1.46 80.00 2867.6 2836.8 2898.4 192.4 2114.6 3.41 -1.82 21 156.90 21.60 9.35 3.67 0.006 0.286 0.109 3546.81 3533.19 3560.44 1345.38 3618.94 0 0 0 15.81 15.63 15.74

159.97 3205 -134.32 -1.26 0.00 3546.7 3532.7 3560.6 1346.2 3619.7 8.70 -12.27 30 165.67 0.00 0.36 3.44 0.000 0.207 0.052 3548.50 3535.31 3561.69 1396.56 2120.12 0 0 0 30.00 15.70 15.76

347.52 644 -134.32 -1.31 -80.00 3547.7 3541.4 3554.0 1396.6 2119.1 40.71 -15.01 67 353.17 0.00 0.00 3.52 0.000 0.000 0.116 3547.72 3541.75 3553.69 1396.50 681.75 0 0 0 30.00 30.00 15.80

581.80 1028 -134.32 -1.31 0.00 3547.8 3542.4 3553.1 1396.4 682.4 80.72 -16.88 114 588.18 0.00 0.00 3.41 0.000 0.000 0.051 3548.38 3543.75 3553.00 1396.75 2172.25 0 0 0 30.00 30.00 15.90

777.55 4741 -134.32 -1.37 -80.00 3548.0 3543.6 3552.4 1396.4 2173.1 109.50 -14.77 134 783.57 0.00 0.28 3.62 0.000 0.090 0.112 3547.31 3542.94 3551.69 1353.81 682.12 0 0 0 30.00 15.92 15.89

816.83 3205 -134.32 -1.25 0.00 3547.9 3543.9 3551.9 1353.5 682.1 116.98 -19.78 142 823.26 0.00 0.38 3.40 0.000 0.217 0.051 3548.50 3543.75 3553.25 1396.62 2175.44 0 0 0 30.00 15.86 15.93

1012.56 388 -134.32 -1.32 80.00 3547.9 3543.7 3552.2 1396.7 2175.9 147.25 -15.06 162 1017.45 0.00 0.00 3.49 0.000 0.000 0.115 3549.44 3544.69 3554.19 1396.50 3617.38 0 0 0 30.00 30.00 15.92

1072.56 1156 -134.32 -1.28 0.00 3548.0 3543.6 3552.4 1395.8 3617.2 157.57 -17.69 174 1077.47 0.00 0.00 3.39 0.000 0.000 0.053 3548.06 3544.00 3552.12 1396.19 2120.69 0 0 0 30.00 30.00 15.97

1092 end dive: TARGET_DEPTH_EXCEEDED

state 1092 begin apogee

1093.68 10243 0.00 -0.24 0.00 3548.1 3543.9 3552.2 1396.6 2181.2 160.84 -16.51 177 1199.42 101.24 1.77 0.10 1.141 0.184 0.177 2997.53 3046.81 2948.25 1642.75 2114.38 0 0 0 11.63 15.88 15.61

1200 end apogee: CONTROL_FINISHED_OK

state 1200 begin climb

1200.23 10243 134.32 1.46 0.00 2998.9 3047.9 2949.9 1642.4 2114.7 166.40 0.00 187 1309.03 102.22 2.88 0.00 1.092 0.135 0.000 2453.72 2518.00 2389.44 2055.31 2114.56 0 0 0 11.57 15.58 30.00

1493.51 2437 134.32 1.56 80.00 2446.5 2505.8 2387.2 2054.5 2114.5 136.94 12.21 217 1503.44 0.00 0.14 3.70 0.000 0.097 0.114 2444.53 2503.31 2385.75 2089.12 3616.88 0 0 0 30.00 15.71 15.38

1570.78 5253 134.32 1.46 0.00 2444.3 2502.0 2386.6 2089.4 3616.7 124.34 16.90 232 1577.23 0.00 0.37 3.43 0.000 0.191 0.054 2445.31 2502.31 2388.31 2046.00 2121.62 0 0 0 30.00 15.69 15.76

1766.51 18563 134.32 1.60 0.00 2444.2 2501.6 2386.9 2046.8 2121.6 101.02 11.60 252 1768.00 0.00 0.29 0.00 0.000 0.075 0.000 2444.62 2502.50 2386.75 2096.62 2120.44 0 0 0 30.00 15.85 30.00

1956.53 388 134.32 1.63 80.00 2444.7 2502.3 2387.0 2096.6 2120.9 75.18 14.11 271 1961.47 0.00 0.00 3.63 0.000 0.000 0.115 2445.19 2502.69 2387.69 2096.94 3617.88 0 0 0 30.00 30.00 15.90

2010.83 21639 134.32 1.52 0.00 2443.4 2499.7 2387.1 2096.5 3617.5 66.07 17.13 282 2017.23 0.00 0.28 3.40 0.000 0.201 0.054 2444.56 2501.06 2388.06 2063.62 2120.50 0 0 0 30.00 15.86 15.95

2199.51 18563 134.32 1.64 0.00 2443.5 2500.1 2386.9 2063.8 2120.5 42.63 12.14 306 2203.77 0.00 0.25 0.00 0.000 0.082 0.000 2443.41 2500.12 2386.69 2107.38 2119.69 0 0 0 30.00 15.97 30.00

2384.53 16774 134.32 1.68 80.00 2443.6 2499.9 2387.2 2107.4 2119.4 19.22 12.44 343 2390.22 0.00 0.00 3.62 0.000 0.000 0.114 2445.75 2502.19 2389.31 2108.19 3618.25 0 0 0 30.00 30.00 15.98

2439.54 17542 134.32 1.60 0.00 2442.3 2498.5 2386.2 2107.5 3619.1 11.87 13.19 354 2445.18 0.00 0.00 3.38 0.000 0.000 0.054 2443.16 2498.81 2387.50 2107.56 2119.38 0 0 0 30.00 30.00 16.03

2629.59 8354 199.51 1.78 0.00 2442.7 2498.6 2386.8 2108.0 2118.1 3.44 2.71 392 2682.45 48.78 0.00 0.00 0.966 0.000 0.000 2187.81 2264.19 2111.44 2108.12 2118.31 0 0 0 11.74 30.00 30.00

2725 end climb: SURFACE_DEPTH_REACHED

state 2725 begin surface coast

2730 end surface coast: NO_VERTICAL_VELOCITY

state 2730 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	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	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	15	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	70	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	69
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1700	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	21	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.506624	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	23.733913	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	0.5	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	210522,181057,4736.118,-12256.763,9,1.6,13,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,181434,4736.104,-12256.763,4,1.5,5,15.5	MHEAD_RNG_PITCHd_Wd	225.9,354,-27.2,-9.697,-30.00,954,0.127
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.012212,-0.000804,-0.018407,1.076714,-0.011113,0.012053,-0.061866,1.064122,464.523956,-1301.037720,-268.791016
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220521190011.259296,06,197,22,0091,0150,74,01,01,00,01,-1,-01,-01,2,3,7,0,150,22.0,0.89,-100,2.11,-01,-0.23,49,10000,5000,0,-1,00,00*7D	FG_AHR_24Vo	23.896
NET_PING	1653159065,25,1986.023926,16.900000,-0.327196	FG_AHR_10Vo	18.535
NAV	1653159543,3.6,start	MEM0	60148,1,0,0
FINISH	1.9,1.021490	MEM1	65508,1,0,0
SM_CCo	3034.82,279.38,0.923,0,541.3,618.4,464.3,603.11	MEM2	944656,33,101972,64
SM_GC	1.63,279.38,12.18,0.09,0.923,0.104,0.150,541.3,618.4,464.3,193.4,2181.1,0,0,0,11.59,15.84,15.88	DATA_FILE_SIZE	9722,410
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	251140,0
IRIDIUM_FIX	4738.33,-12256.21,210522,170015	SDSIZE	3887104,3873056
TCM_TEMP	12.73	SDFILEDIR	56,1
SC_FREEKB	3877824	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	0.046, 87.4,1
HUMID	48.00	MAGCAL	1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.9,-1287.7,-265.9,25,0.0261,1
TEMP	10.09	IMPLIED_C_PITCH	1745,18.43,195,1722.7,19.71
INTERNAL_PRESSURE	8.07656	IMPLIED_C_VBD	2884,13.096003,195,2942.1
_24V_AH	14.69,3.760	GPS	210522,190631,4735.959,-12256.879,10,0.9,33,15.5
_10V_AH	14.72,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	1140	11054.77	nil	0	0	0.00
Pitch_motor	28	286	119.93	nil	0	0	0.00
Roll_motor	49	176	128.41	nil	0	0	0.00
Iridium	153	195	440.05	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.10	nil	0	0	0.00
Core	1726	5	130.13	SciCon	2739	6	281.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1223	0	5.76
Compass	829	5	61.07
RAFOS	1518	40	893.89
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
6.53	16386	-60.85	-1.37	0.00	537.3	611.8	462.8	192.2	2115.8	0.00	0.00	0	115.75	106.58	0.00	0.00	0.005	0.000	0.000	2868.72	2837.69	2899.75	192.38	2115.50	0	0	0	15.74	30.00	30.00
115.98	18727	-134.32	-1.46	80.00	2867.6	2836.8	2898.4	192.4	2114.6	3.41	-1.82	21	156.90	21.60	9.35	3.67	0.006	0.286	0.109	3546.81	3533.19	3560.44	1345.38	3618.94	0	0	0	15.81	15.63	15.74
159.97	3205	-134.32	-1.26	0.00	3546.7	3532.7	3560.6	1346.2	3619.7	8.70	-12.27	30	165.67	0.00	0.36	3.44	0.000	0.207	0.052	3548.50	3535.31	3561.69	1396.56	2120.12	0	0	0	30.00	15.70	15.76
347.52	644	-134.32	-1.31	-80.00	3547.7	3541.4	3554.0	1396.6	2119.1	40.71	-15.01	67	353.17	0.00	0.00	3.52	0.000	0.000	0.116	3547.72	3541.75	3553.69	1396.50	681.75	0	0	0	30.00	30.00	15.80
581.80	1028	-134.32	-1.31	0.00	3547.8	3542.4	3553.1	1396.4	682.4	80.72	-16.88	114	588.18	0.00	0.00	3.41	0.000	0.000	0.051	3548.38	3543.75	3553.00	1396.75	2172.25	0	0	0	30.00	30.00	15.90
777.55	4741	-134.32	-1.37	-80.00	3548.0	3543.6	3552.4	1396.4	2173.1	109.50	-14.77	134	783.57	0.00	0.28	3.62	0.000	0.090	0.112	3547.31	3542.94	3551.69	1353.81	682.12	0	0	0	30.00	15.92	15.89
816.83	3205	-134.32	-1.25	0.00	3547.9	3543.9	3551.9	1353.5	682.1	116.98	-19.78	142	823.26	0.00	0.38	3.40	0.000	0.217	0.051	3548.50	3543.75	3553.25	1396.62	2175.44	0	0	0	30.00	15.86	15.93
1012.56	388	-134.32	-1.32	80.00	3547.9	3543.7	3552.2	1396.7	2175.9	147.25	-15.06	162	1017.45	0.00	0.00	3.49	0.000	0.000	0.115	3549.44	3544.69	3554.19	1396.50	3617.38	0	0	0	30.00	30.00	15.92
1072.56	1156	-134.32	-1.28	0.00	3548.0	3543.6	3552.4	1395.8	3617.2	157.57	-17.69	174	1077.47	0.00	0.00	3.39	0.000	0.000	0.053	3548.06	3544.00	3552.12	1396.19	2120.69	0	0	0	30.00	30.00	15.97
1092	end dive: TARGET_DEPTH_EXCEEDED
state	1092	begin apogee
1093.68	10243	0.00	-0.24	0.00	3548.1	3543.9	3552.2	1396.6	2181.2	160.84	-16.51	177	1199.42	101.24	1.77	0.10	1.141	0.184	0.177	2997.53	3046.81	2948.25	1642.75	2114.38	0	0	0	11.63	15.88	15.61
1200	end apogee: CONTROL_FINISHED_OK
state	1200	begin climb
1200.23	10243	134.32	1.46	0.00	2998.9	3047.9	2949.9	1642.4	2114.7	166.40	0.00	187	1309.03	102.22	2.88	0.00	1.092	0.135	0.000	2453.72	2518.00	2389.44	2055.31	2114.56	0	0	0	11.57	15.58	30.00
1493.51	2437	134.32	1.56	80.00	2446.5	2505.8	2387.2	2054.5	2114.5	136.94	12.21	217	1503.44	0.00	0.14	3.70	0.000	0.097	0.114	2444.53	2503.31	2385.75	2089.12	3616.88	0	0	0	30.00	15.71	15.38
1570.78	5253	134.32	1.46	0.00	2444.3	2502.0	2386.6	2089.4	3616.7	124.34	16.90	232	1577.23	0.00	0.37	3.43	0.000	0.191	0.054	2445.31	2502.31	2388.31	2046.00	2121.62	0	0	0	30.00	15.69	15.76
1766.51	18563	134.32	1.60	0.00	2444.2	2501.6	2386.9	2046.8	2121.6	101.02	11.60	252	1768.00	0.00	0.29	0.00	0.000	0.075	0.000	2444.62	2502.50	2386.75	2096.62	2120.44	0	0	0	30.00	15.85	30.00
1956.53	388	134.32	1.63	80.00	2444.7	2502.3	2387.0	2096.6	2120.9	75.18	14.11	271	1961.47	0.00	0.00	3.63	0.000	0.000	0.115	2445.19	2502.69	2387.69	2096.94	3617.88	0	0	0	30.00	30.00	15.90
2010.83	21639	134.32	1.52	0.00	2443.4	2499.7	2387.1	2096.5	3617.5	66.07	17.13	282	2017.23	0.00	0.28	3.40	0.000	0.201	0.054	2444.56	2501.06	2388.06	2063.62	2120.50	0	0	0	30.00	15.86	15.95
2199.51	18563	134.32	1.64	0.00	2443.5	2500.1	2386.9	2063.8	2120.5	42.63	12.14	306	2203.77	0.00	0.25	0.00	0.000	0.082	0.000	2443.41	2500.12	2386.69	2107.38	2119.69	0	0	0	30.00	15.97	30.00
2384.53	16774	134.32	1.68	80.00	2443.6	2499.9	2387.2	2107.4	2119.4	19.22	12.44	343	2390.22	0.00	0.00	3.62	0.000	0.000	0.114	2445.75	2502.19	2389.31	2108.19	3618.25	0	0	0	30.00	30.00	15.98
2439.54	17542	134.32	1.60	0.00	2442.3	2498.5	2386.2	2107.5	3619.1	11.87	13.19	354	2445.18	0.00	0.00	3.38	0.000	0.000	0.054	2443.16	2498.81	2387.50	2107.56	2119.38	0	0	0	30.00	30.00	16.03
2629.59	8354	199.51	1.78	0.00	2442.7	2498.6	2386.8	2108.0	2118.1	3.44	2.71	392	2682.45	48.78	0.00	0.00	0.966	0.000	0.000	2187.81	2264.19	2111.44	2108.12	2118.31	0	0	0	11.74	30.00	30.00
2725	end climb: SURFACE_DEPTH_REACHED
state	2725	begin surface coast
2730	end surface coast: NO_VERTICAL_VELOCITY
state	2730	begin surface