Glider dive log

HoodCanal 22May22 * 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 5 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 18.630482 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.89119 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 25.361685 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 -188.63794 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 18.89119 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 25.361685 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 18.630482 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 -188.63794 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 5 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 220522,174756,4736.146,-12256.799,1,1.6,4,15.5 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 -59.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,175116,4736.141,-12256.786,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 216.0,373,-27.2,-9.697,-30.00,954,0.131

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.008958,-0.005570,0.001689,1.066388,-0.026722,0.026495,-0.045673,1.008484,463.408508,-1296.625488,-227.052963

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653243012,142.1,0,stop FG_AHR_24Vo 25.518

NET CACST,8,1,20220522184220.012797,06,739,22,0185,0150,74,01,01,01,01,-1,-01,-01,1,3,2196,0,150,28.2,0.43,-100,2.57,-01,-1.98,52,10000,5000,0,-1,00,00*4A FG_AHR_10Vo 18.909

FREEZE 4.76,11.232,-1.543,0,1,0 MEM0 60148,1,0,0

SM_CCo 3376.57,297.74,0.904,0,500.8,577.0,424.6,613.06 MEM1 65508,1,0,0

SM_GC 1.55,0.00,12.33,0.11,0.000,0.074,0.138,497.7,576.2,419.1,194.9,2186.9,0,0,0,30.00,15.52,15.54 MEM2 944556,27,102172,65

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12926,464

IRIDIUM_FIX 4736.87,-12256.21,220522,164039 CAP_FILE_SIZE 289006,0

TCM_TEMP 12.86 SDSIZE 3887104,3872864

SC_FREEKB 3877824 SDFILEDIR 61,1

RAFOS_CLK -2 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 48.18 CURRENT 0.028, 62.2,1

TEMP 10.37 MAGCAL 1.000000,0.016243,-0.028567,0.004449,1.079943,-0.050804,0.007833,-0.068671,1.074847,479.8,-1278.6,-275.0,27,0.0262,1

INTERNAL_PRESSURE 8.08404 IMPLIED_C_PITCH 1744,19.47,221,1722.2,19.05

_24V_AH 14.92,5.314 IMPLIED_C_VBD 2924,23.070375,157,2962.1

_10V_AH 14.95,0.000 GPS 220522,185039,4736.005,-12256.905,17,1.6,25,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 653 1108 10812.08 nil 0 0 0.00

Pitch_motor 29 310 136.77 nil 0 0 0.00

Roll_motor 69 192 199.92 nil 0 0 0.00

Iridium 135 210 425.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 1946 5 148.97 SciCon 3072 6 316.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1409 0 6.74

Compass 935 5 69.96

RAFOS 370 40 221.85

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

6.63 16386 -60.85 -1.53 0.00 536.8 611.8 461.9 194.8 2184.6 0.00 0.00 0 112.45 101.11 0.00 0.00 0.005 0.000 0.000 2795.28 2765.38 2825.19 195.00 2184.50 0 0 0 15.65 30.00 30.00

112.75 18983 -110.33 -1.59 -80.00 2793.9 2763.9 2824.0 194.9 2183.9 3.33 -4.39 19 152.61 19.62 9.48 3.69 0.006 0.310 0.107 3449.06 3433.88 3464.25 1313.38 679.75 0 0 0 15.85 15.67 15.76

161.00 3205 -110.33 -1.22 0.00 3449.4 3434.8 3463.9 1313.1 679.8 10.97 -16.86 28 168.08 0.00 0.70 3.44 0.000 0.250 0.049 3450.62 3436.81 3464.44 1404.88 2174.75 0 0 0 30.00 15.72 15.82

351.37 516 -110.33 -1.22 -80.00 3450.7 3441.4 3459.9 1404.1 2174.5 39.25 -12.60 66 358.24 0.00 0.00 3.62 0.000 0.000 0.107 3452.47 3442.69 3462.25 1404.44 680.94 0 0 0 30.00 30.00 15.86

585.34 1156 -110.33 -1.15 0.00 3450.8 3442.7 3459.0 1404.8 680.8 72.13 -14.99 109 592.71 0.00 0.00 3.43 0.000 0.000 0.050 3450.72 3443.25 3458.19 1404.25 2176.12 0 0 0 30.00 30.00 15.94

781.03 644 -110.33 -1.21 -80.00 3450.4 3443.6 3457.2 1404.1 2175.5 96.84 -12.55 129 788.14 0.00 0.00 3.62 0.000 0.000 0.106 3452.25 3445.19 3459.31 1404.69 680.81 0 0 0 30.00 30.00 15.93

886.47 1028 -110.33 -1.21 0.00 3450.8 3444.4 3457.3 1404.3 681.2 112.76 -15.31 150 892.44 0.00 0.00 3.40 0.000 0.000 0.049 3451.03 3444.81 3457.25 1404.38 2175.94 0 0 0 30.00 30.00 16.00

1076.54 388 -110.33 -1.28 80.00 3450.8 3444.9 3456.6 1404.6 2175.9 137.73 -13.17 170 1082.50 0.00 0.00 3.46 0.000 0.000 0.109 3451.62 3445.81 3457.44 1404.56 3618.88 0 0 0 30.00 30.00 16.00

1136.66 1156 -110.33 -1.23 0.00 3451.2 3445.1 3457.2 1404.5 3618.8 146.72 -15.26 182 1142.55 0.00 0.00 3.37 0.000 0.000 0.050 3452.22 3445.81 3458.62 1404.50 2117.06 0 0 0 30.00 30.00 16.03

1237 end dive: TARGET_DEPTH_EXCEEDED

state 1237 begin apogee

1238.04 10243 0.00 -0.27 0.00 3450.8 3444.7 3456.9 1404.0 2179.4 160.19 -13.27 193 1332.07 85.99 1.65 0.09 1.109 0.182 0.192 2999.69 3043.12 2956.25 1635.88 2113.12 0 0 0 11.82 15.96 15.73

1333 end apogee: CONTROL_FINISHED_OK

state 1333 begin climb

1333.12 10243 110.33 1.59 0.00 2999.2 3042.5 2956.0 1635.7 2113.4 165.11 0.00 202 1427.81 84.72 3.13 0.00 1.076 0.135 0.000 2547.69 2610.31 2485.06 2088.69 2113.50 0 0 0 11.72 15.71 30.00

1611.11 516 110.33 1.59 -80.00 2544.4 2602.2 2486.6 2088.4 2113.3 135.82 13.69 231 1617.18 0.00 0.00 3.52 0.000 0.000 0.116 2545.00 2602.56 2487.44 2088.94 681.00 0 0 0 30.00 30.00 15.74

1635.47 1156 110.33 1.53 0.00 2543.5 2600.8 2486.2 2088.6 680.8 132.06 15.04 236 1642.86 0.00 0.00 3.45 0.000 0.000 0.051 2544.28 2601.62 2486.94 2088.62 2174.62 0 0 0 30.00 30.00 15.79

1824.15 260 110.33 1.53 80.00 2542.7 2598.9 2486.6 2088.2 2174.9 106.92 13.02 256 1835.84 0.00 0.00 3.52 0.000 0.000 0.113 2543.53 2599.31 2487.75 2088.19 3618.06 0 0 0 30.00 30.00 15.83

1864.24 21639 110.33 1.38 0.00 2541.4 2596.4 2486.4 2088.5 3617.8 100.61 16.24 264 1871.52 0.00 0.49 3.38 0.000 0.208 0.050 2541.03 2596.25 2485.81 2029.69 2119.56 0 0 0 30.00 15.80 15.89

2059.37 19079 110.33 1.53 -80.00 2541.4 2596.6 2486.2 2028.9 2119.1 79.77 9.92 284 2066.46 0.00 0.30 3.46 0.000 0.076 0.112 2540.12 2595.50 2484.75 2082.50 682.25 0 0 0 30.00 15.93 15.92

2084.77 17414 110.33 1.53 0.00 2541.1 2595.9 2486.3 2082.9 682.0 76.60 11.29 289 2090.75 0.00 0.00 3.39 0.000 0.000 0.052 2541.28 2596.75 2485.81 2082.81 2174.25 0 0 0 30.00 30.00 15.96

2274.77 16646 110.33 1.53 80.00 2541.4 2596.5 2486.2 2082.8 2175.3 53.98 12.06 309 2280.81 0.00 0.00 3.46 0.000 0.000 0.114 2543.22 2598.00 2488.44 2083.12 3618.56 0 0 0 30.00 30.00 15.97

2324.89 21639 110.33 1.40 0.00 2540.4 2595.2 2485.7 2082.2 3618.3 46.81 14.71 319 2331.76 0.00 0.39 3.38 0.000 0.204 0.050 2540.88 2595.00 2486.75 2034.38 2117.56 0 0 0 30.00 15.94 16.00

2513.69 10919 115.31 1.56 -80.00 2540.2 2594.4 2485.9 2034.4 2117.2 28.12 9.16 356 2525.90 4.84 0.31 3.44 0.585 0.074 0.113 2529.19 2585.00 2473.38 2089.25 680.75 0 0 0 11.68 16.02 15.99

2574.30 5253 115.31 1.49 0.00 2528.8 2584.1 2473.4 2088.9 680.7 21.27 11.66 368 2581.16 0.00 0.29 3.39 0.000 0.217 0.053 2529.94 2585.75 2474.12 2054.31 2173.56 0 0 0 30.00 15.96 16.03

2764.55 10663 170.50 1.73 80.00 2528.7 2584.5 2472.9 2053.7 2173.8 9.42 3.78 406 2818.90 43.64 0.45 3.49 0.958 0.065 0.114 2305.94 2375.25 2236.62 2130.31 3617.31 0 0 0 11.80 16.05 15.88

3040.69 9382 265.17 1.80 0.00 2298.6 2363.8 2233.5 2129.8 3617.2 4.75 -0.45 460 3063.19 15.95 0.00 3.37 0.892 0.000 0.049 2228.34 2298.81 2157.88 2130.12 2112.00 0 0 0 11.82 30.00 15.99

3064 end climb: NO_VERTICAL_VELOCITY

state 3064 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	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	18.630482	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.89119	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	25.361685	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	-188.63794	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	220522,174756,4736.146,-12256.799,1,1.6,4,15.5	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	-59.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,175116,4736.141,-12256.786,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	216.0,373,-27.2,-9.697,-30.00,954,0.131
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.008958,-0.005570,0.001689,1.066388,-0.026722,0.026495,-0.045673,1.008484,463.408508,-1296.625488,-227.052963
TGT_LATLONG	4736.000,-12257.000

NAV	1653243012,142.1,0,stop	FG_AHR_24Vo	25.518
NET	CACST,8,1,20220522184220.012797,06,739,22,0185,0150,74,01,01,01,01,-1,-01,-01,1,3,2196,0,150,28.2,0.43,-100,2.57,-01,-1.98,52,10000,5000,0,-1,00,00*4A	FG_AHR_10Vo	18.909
FREEZE	4.76,11.232,-1.543,0,1,0	MEM0	60148,1,0,0
SM_CCo	3376.57,297.74,0.904,0,500.8,577.0,424.6,613.06	MEM1	65508,1,0,0
SM_GC	1.55,0.00,12.33,0.11,0.000,0.074,0.138,497.7,576.2,419.1,194.9,2186.9,0,0,0,30.00,15.52,15.54	MEM2	944556,27,102172,65
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12926,464
IRIDIUM_FIX	4736.87,-12256.21,220522,164039	CAP_FILE_SIZE	289006,0
TCM_TEMP	12.86	SDSIZE	3887104,3872864
SC_FREEKB	3877824	SDFILEDIR	61,1
RAFOS_CLK	-2	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	48.18	CURRENT	0.028, 62.2,1
TEMP	10.37	MAGCAL	1.000000,0.016243,-0.028567,0.004449,1.079943,-0.050804,0.007833,-0.068671,1.074847,479.8,-1278.6,-275.0,27,0.0262,1
INTERNAL_PRESSURE	8.08404	IMPLIED_C_PITCH	1744,19.47,221,1722.2,19.05
_24V_AH	14.92,5.314	IMPLIED_C_VBD	2924,23.070375,157,2962.1
_10V_AH	14.95,0.000	GPS	220522,185039,4736.005,-12256.905,17,1.6,25,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	653	1108	10812.08	nil	0	0	0.00
Pitch_motor	29	310	136.77	nil	0	0	0.00
Roll_motor	69	192	199.92	nil	0	0	0.00
Iridium	135	210	425.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	1946	5	148.97	SciCon	3072	6	316.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1409	0	6.74
Compass	935	5	69.96
RAFOS	370	40	221.85
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
6.63	16386	-60.85	-1.53	0.00	536.8	611.8	461.9	194.8	2184.6	0.00	0.00	0	112.45	101.11	0.00	0.00	0.005	0.000	0.000	2795.28	2765.38	2825.19	195.00	2184.50	0	0	0	15.65	30.00	30.00
112.75	18983	-110.33	-1.59	-80.00	2793.9	2763.9	2824.0	194.9	2183.9	3.33	-4.39	19	152.61	19.62	9.48	3.69	0.006	0.310	0.107	3449.06	3433.88	3464.25	1313.38	679.75	0	0	0	15.85	15.67	15.76
161.00	3205	-110.33	-1.22	0.00	3449.4	3434.8	3463.9	1313.1	679.8	10.97	-16.86	28	168.08	0.00	0.70	3.44	0.000	0.250	0.049	3450.62	3436.81	3464.44	1404.88	2174.75	0	0	0	30.00	15.72	15.82
351.37	516	-110.33	-1.22	-80.00	3450.7	3441.4	3459.9	1404.1	2174.5	39.25	-12.60	66	358.24	0.00	0.00	3.62	0.000	0.000	0.107	3452.47	3442.69	3462.25	1404.44	680.94	0	0	0	30.00	30.00	15.86
585.34	1156	-110.33	-1.15	0.00	3450.8	3442.7	3459.0	1404.8	680.8	72.13	-14.99	109	592.71	0.00	0.00	3.43	0.000	0.000	0.050	3450.72	3443.25	3458.19	1404.25	2176.12	0	0	0	30.00	30.00	15.94
781.03	644	-110.33	-1.21	-80.00	3450.4	3443.6	3457.2	1404.1	2175.5	96.84	-12.55	129	788.14	0.00	0.00	3.62	0.000	0.000	0.106	3452.25	3445.19	3459.31	1404.69	680.81	0	0	0	30.00	30.00	15.93
886.47	1028	-110.33	-1.21	0.00	3450.8	3444.4	3457.3	1404.3	681.2	112.76	-15.31	150	892.44	0.00	0.00	3.40	0.000	0.000	0.049	3451.03	3444.81	3457.25	1404.38	2175.94	0	0	0	30.00	30.00	16.00
1076.54	388	-110.33	-1.28	80.00	3450.8	3444.9	3456.6	1404.6	2175.9	137.73	-13.17	170	1082.50	0.00	0.00	3.46	0.000	0.000	0.109	3451.62	3445.81	3457.44	1404.56	3618.88	0	0	0	30.00	30.00	16.00
1136.66	1156	-110.33	-1.23	0.00	3451.2	3445.1	3457.2	1404.5	3618.8	146.72	-15.26	182	1142.55	0.00	0.00	3.37	0.000	0.000	0.050	3452.22	3445.81	3458.62	1404.50	2117.06	0	0	0	30.00	30.00	16.03
1237	end dive: TARGET_DEPTH_EXCEEDED
state	1237	begin apogee
1238.04	10243	0.00	-0.27	0.00	3450.8	3444.7	3456.9	1404.0	2179.4	160.19	-13.27	193	1332.07	85.99	1.65	0.09	1.109	0.182	0.192	2999.69	3043.12	2956.25	1635.88	2113.12	0	0	0	11.82	15.96	15.73
1333	end apogee: CONTROL_FINISHED_OK
state	1333	begin climb
1333.12	10243	110.33	1.59	0.00	2999.2	3042.5	2956.0	1635.7	2113.4	165.11	0.00	202	1427.81	84.72	3.13	0.00	1.076	0.135	0.000	2547.69	2610.31	2485.06	2088.69	2113.50	0	0	0	11.72	15.71	30.00
1611.11	516	110.33	1.59	-80.00	2544.4	2602.2	2486.6	2088.4	2113.3	135.82	13.69	231	1617.18	0.00	0.00	3.52	0.000	0.000	0.116	2545.00	2602.56	2487.44	2088.94	681.00	0	0	0	30.00	30.00	15.74
1635.47	1156	110.33	1.53	0.00	2543.5	2600.8	2486.2	2088.6	680.8	132.06	15.04	236	1642.86	0.00	0.00	3.45	0.000	0.000	0.051	2544.28	2601.62	2486.94	2088.62	2174.62	0	0	0	30.00	30.00	15.79
1824.15	260	110.33	1.53	80.00	2542.7	2598.9	2486.6	2088.2	2174.9	106.92	13.02	256	1835.84	0.00	0.00	3.52	0.000	0.000	0.113	2543.53	2599.31	2487.75	2088.19	3618.06	0	0	0	30.00	30.00	15.83
1864.24	21639	110.33	1.38	0.00	2541.4	2596.4	2486.4	2088.5	3617.8	100.61	16.24	264	1871.52	0.00	0.49	3.38	0.000	0.208	0.050	2541.03	2596.25	2485.81	2029.69	2119.56	0	0	0	30.00	15.80	15.89
2059.37	19079	110.33	1.53	-80.00	2541.4	2596.6	2486.2	2028.9	2119.1	79.77	9.92	284	2066.46	0.00	0.30	3.46	0.000	0.076	0.112	2540.12	2595.50	2484.75	2082.50	682.25	0	0	0	30.00	15.93	15.92
2084.77	17414	110.33	1.53	0.00	2541.1	2595.9	2486.3	2082.9	682.0	76.60	11.29	289	2090.75	0.00	0.00	3.39	0.000	0.000	0.052	2541.28	2596.75	2485.81	2082.81	2174.25	0	0	0	30.00	30.00	15.96
2274.77	16646	110.33	1.53	80.00	2541.4	2596.5	2486.2	2082.8	2175.3	53.98	12.06	309	2280.81	0.00	0.00	3.46	0.000	0.000	0.114	2543.22	2598.00	2488.44	2083.12	3618.56	0	0	0	30.00	30.00	15.97
2324.89	21639	110.33	1.40	0.00	2540.4	2595.2	2485.7	2082.2	3618.3	46.81	14.71	319	2331.76	0.00	0.39	3.38	0.000	0.204	0.050	2540.88	2595.00	2486.75	2034.38	2117.56	0	0	0	30.00	15.94	16.00
2513.69	10919	115.31	1.56	-80.00	2540.2	2594.4	2485.9	2034.4	2117.2	28.12	9.16	356	2525.90	4.84	0.31	3.44	0.585	0.074	0.113	2529.19	2585.00	2473.38	2089.25	680.75	0	0	0	11.68	16.02	15.99
2574.30	5253	115.31	1.49	0.00	2528.8	2584.1	2473.4	2088.9	680.7	21.27	11.66	368	2581.16	0.00	0.29	3.39	0.000	0.217	0.053	2529.94	2585.75	2474.12	2054.31	2173.56	0	0	0	30.00	15.96	16.03
2764.55	10663	170.50	1.73	80.00	2528.7	2584.5	2472.9	2053.7	2173.8	9.42	3.78	406	2818.90	43.64	0.45	3.49	0.958	0.065	0.114	2305.94	2375.25	2236.62	2130.31	3617.31	0	0	0	11.80	16.05	15.88
3040.69	9382	265.17	1.80	0.00	2298.6	2363.8	2233.5	2129.8	3617.2	4.75	-0.45	460	3063.19	15.95	0.00	3.37	0.892	0.000	0.049	2228.34	2298.81	2157.88	2130.12	2112.00	0	0	0	11.82	30.00	15.99
3064	end climb: NO_VERTICAL_VELOCITY
state	3064	begin surface