Glider dive log

Shilshole 31Mar22 * SG243 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 243 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 1 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 -1.7

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 15 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 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 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 20000 C_VBD_AUTO_MAX 0 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 120 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 -6 PITCH_MAX 3600 AH0_10V 575 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 1750 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 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 2.1096728 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 2.4458923 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 2 PRESSURE_YINT -165.93898 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

MASS 72540 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 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 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3890 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 2200 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

AH0_10V 575 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 2.1096728 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 2.4458923 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 25 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 20000 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 243 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 -1.7 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1750 KALMAN_USE 2 PRESSURE_SLOPE 0.00022387519 T_MISSION 65

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -165.93898 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2200 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 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

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 72540 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 3890 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 285 W_ADJ_DBAND 0

DIVE 3 MISSION 1 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 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 50 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 310322,183313,4744.722,-12223.770,1,0.9,4,15.4 TGT_RADIUS 100.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.30 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -43.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310322,183859,4744.724,-12223.708,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 199.0,2780,-17.6,-10.000,-21.21,2209,0.193

SPEED_LIMITS 0.173,0.258 D_GRID 160

TGT_NAME NW IRON 1.000000,-0.003107,-0.010810,0.023425,1.071571,-0.046293,-0.005664,-0.047429,1.037216,40.049168,-1373.086060,-780.958374

TGT_LATLONG 4743.500,-12225.000

Post-dive calculations and measurements:

NAV 1648755373,18.0,1,stop FG_AHR_24Vo 2.644

MODEM_MSG CACST,8,1,20220331192639.076003,18,1636,08,0159,0150,00,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*15 FG_AHR_10Vo 2.149

FINISH 0.4,1.008416 MEM0 60148,1,0,0

SM_CCo 3858.59,181.23,1.081,0,541.8,652.7,430.9,602.99 MEM1 65508,1,0,0

SM_GC 1.17,181.23,12.19,0.54,1.081,0.098,0.096,541.8,652.7,430.9,201.0,2168.4,0,0,0,11.31,15.66,15.67 MEM2 994324,27,52364,67

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19326,640

IRIDIUM_FIX 4743.02,-12222.38,310322,182917 CAP_FILE_SIZE 206126,0

TCM_TEMP 11.68 SDSIZE 3887104,3874368

SC_FREEKB 3877888 SDFILEDIR 44,1

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

MODEM 5,1648754799,47.25000,-122.00000,99.076,146322.6 SOUNDSPEED 1465.0

RAFOS_FIX 4744.242676,-12536.294922,310322,161628,5,255,5340.52 CURRENT 0.043,143.1,1

HUMID 52.08 MAGCAL 1.000000,-0.019622,-0.012960,0.027342,1.039451,-0.063644,-0.000743,-0.015562,1.015722,39.3,-1366.9,-777.5,31,0.0329,0

TEMP 9.57 IMPLIED_C_PITCH 1713,15.65,380,0.0,0.00

INTERNAL_PRESSURE 8.22861 IMPLIED_C_VBD 3016,28.481537,380,0

_24V_AH 14.68,0.783 GPS 310322,194415,4744.421,-12224.068,3,1.0,7,15.4

_10V_AH 14.70,0.166

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 713 1206 12645.83 nil 0 0 0.00

Pitch_motor 27 305 125.26 nil 0 0 0.00

Roll_motor 70 206 212.72 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 3.03 nil 0 0 0.00

Core 2259 5 170.08 SciCon 3659 7 429.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1453 0 6.84

Compass 1378 5 101.29

RAFOS 2232 40 1312.84

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

7.28 16386 -146.63 -0.88 0.00 541.4 651.7 431.2 192.2 2170.8 0.00 0.00 0 106.48 97.75 0.00 0.00 0.005 0.000 0.000 2931.41 2968.56 2894.25 192.06 2171.00 0 0 0 16.01 30.00 30.00

106.83 18727 -146.63 -0.88 80.00 2930.5 2968.1 2892.8 192.5 2170.3 3.05 -1.97 19 144.41 19.49 10.53 3.62 0.006 0.305 0.133 3596.25 3648.06 3544.44 1534.88 3665.62 0 0 0 16.03 15.82 15.91

282.64 1188 -146.63 -0.96 0.00 3597.8 3648.4 3547.2 1535.0 3665.2 18.84 -8.51 54 288.31 0.00 0.00 3.39 0.000 0.000 0.069 3597.59 3648.19 3547.00 1534.81 2171.75 0 0 0 30.00 30.00 15.96

472.70 4257 -146.63 -1.14 0.00 3598.5 3648.9 3548.1 1534.6 2171.9 31.51 -7.27 92 477.10 0.00 0.44 0.00 0.000 0.081 0.000 3597.53 3648.12 3546.94 1460.69 2171.88 0 0 0 30.00 16.01 30.00

657.78 160 -146.63 -1.21 0.00 3598.4 3649.0 3547.8 1460.8 2171.9 47.33 -8.09 129 662.00 0.00 0.00 0.00 0.000 0.000 0.000 3599.19 3650.00 3548.38 1460.38 2171.88 0 0 0 30.00 30.00 30.00

842.81 676 -146.63 -1.28 -80.00 3598.7 3648.8 3548.6 1460.4 2171.6 62.58 -8.09 166 848.52 0.00 0.00 3.52 0.000 0.000 0.135 3598.91 3649.31 3548.50 1459.81 733.19 0 0 0 30.00 30.00 16.00

877.81 1060 -146.63 -1.28 0.00 3598.8 3649.2 3548.2 1460.0 733.2 65.68 -8.81 173 883.50 0.00 0.00 3.39 0.000 0.000 0.066 3598.06 3648.50 3547.62 1459.81 2222.56 0 0 0 30.00 30.00 16.04

1067.85 4517 -146.63 -1.34 80.00 3598.8 3649.2 3548.4 1460.1 2222.1 81.39 -8.16 211 1073.61 0.00 0.25 3.45 0.000 0.088 0.132 3597.69 3648.38 3547.00 1411.06 3665.25 0 0 0 30.00 16.04 16.02

1127.90 3205 -146.63 -1.20 0.00 3598.7 3649.1 3548.3 1411.2 3665.3 88.82 -13.14 223 1133.61 0.00 0.38 3.37 0.000 0.197 0.069 3599.19 3649.38 3549.00 1460.19 2172.56 0 0 0 30.00 15.99 16.06

1318.83 548 -146.63 -1.20 -80.00 3598.9 3649.0 3548.8 1459.8 2172.8 105.52 -7.61 253 1323.78 0.00 0.00 3.51 0.000 0.000 0.135 3599.00 3649.19 3548.81 1459.81 733.31 0 0 0 30.00 30.00 16.00

1373.07 1060 -146.63 -1.20 0.00 3599.1 3649.3 3548.8 1460.2 733.7 110.62 -9.45 264 1379.51 0.00 0.00 3.39 0.000 0.000 0.067 3599.38 3648.81 3549.94 1459.88 2221.19 0 0 0 30.00 30.00 16.03

1688.86 292 -146.63 -1.20 80.00 3598.9 3649.0 3548.9 1459.9 2222.9 136.46 -8.95 296 1693.79 0.00 0.00 3.46 0.000 0.000 0.134 3598.72 3648.25 3549.19 1460.19 3662.88 0 0 0 30.00 30.00 15.99

1813 end dive: TARGET_DEPTH_EXCEEDED

state 1813 begin apogee

1817.33 10243 0.00 -0.20 0.00 3599.2 3649.1 3549.3 1459.9 2367.9 150.21 -11.00 321 1957.81 134.53 1.69 0.11 1.146 0.195 0.206 2996.38 3072.75 2920.00 1701.88 2426.44 0 0 0 11.29 15.94 15.53

1958 end apogee: CONTROL_FINISHED_OK

state 1958 begin climb

1958.69 10759 146.63 0.88 -80.00 2998.3 3073.2 2923.5 1700.9 2427.6 152.29 0.00 335 2071.27 100.82 1.76 3.77 1.207 0.138 0.125 2398.72 2492.19 2305.25 1966.06 933.44 0 0 0 11.29 15.51 15.36

2128.64 1028 146.63 0.88 0.00 2395.3 2485.3 2305.3 1965.8 933.2 138.54 11.44 368 2135.13 0.00 0.00 3.52 0.000 0.000 0.071 2394.59 2485.94 2303.25 1965.62 2417.75 0 0 0 30.00 30.00 15.54

2444.43 8486 181.15 0.93 80.00 2394.8 2484.2 2305.3 1966.2 2418.1 110.69 8.40 400 2491.32 40.21 0.00 3.62 1.034 0.000 0.147 2257.06 2354.94 2159.19 1966.75 3864.31 0 0 0 11.23 30.00 15.62

2523.68 1028 181.15 0.93 0.00 2258.7 2355.4 2162.0 1965.7 3865.0 102.25 12.26 416 2530.15 0.00 0.00 3.45 0.000 0.000 0.066 2258.84 2354.94 2162.75 1966.06 2369.62 0 0 0 30.00 30.00 15.69

2834.55 516 181.15 0.93 -80.00 2258.0 2354.6 2161.3 1966.1 2367.4 70.90 10.05 476 2840.23 0.00 0.00 3.51 0.000 0.000 0.128 2255.72 2351.31 2160.12 1966.12 932.31 0 0 0 30.00 30.00 15.80

2949.53 9254 195.83 0.94 0.00 2255.7 2350.3 2161.0 1966.0 931.9 59.69 9.32 499 2991.98 36.37 0.00 3.45 0.913 0.000 0.072 2196.56 2294.50 2098.62 1965.94 2418.31 0 0 0 11.37 30.00 15.86

3175.28 10919 225.89 1.08 -80.00 2183.0 2280.4 2085.6 1965.9 2419.0 40.32 8.61 544 3206.39 21.83 0.27 3.64 1.071 0.097 0.121 2077.72 2182.81 1972.62 2016.44 932.50 0 0 0 11.34 15.81 15.72

3290.21 1028 225.89 1.08 0.00 2074.3 2174.9 1973.7 2016.4 932.7 28.57 10.56 567 3295.93 0.00 0.00 3.46 0.000 0.000 0.073 2073.75 2175.19 1972.31 2016.44 2418.88 0 0 0 30.00 30.00 15.79

3480.25 8870 252.29 1.17 -80.00 2074.3 2175.2 1973.4 2016.1 2419.3 11.35 8.78 605 3511.37 22.55 0.00 3.66 1.050 0.000 0.126 1969.12 2075.19 1863.06 2016.88 932.19 0 0 0 11.36 30.00 15.76

3555.28 11431 335.70 1.38 0.00 1967.6 2072.9 1862.2 2016.2 932.4 6.44 6.14 620 3622.34 59.06 0.41 3.45 1.093 0.093 0.071 1631.94 1755.25 1508.62 2089.94 2420.06 0 0 0 11.40 15.81 15.82

3625 end climb: SURFACE_DEPTH_REACHED

state 3625 begin surface coast

3655 end surface coast: CONTROL_FINISHED_OK

state 3655 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	1	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	-1.7
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	15	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	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	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	20000	C_VBD_AUTO_MAX	0	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	120	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	-6	PITCH_MAX	3600	AH0_10V	575	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	1750	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	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	2.1096728	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	2.4458923	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	2	PRESSURE_YINT	-165.93898	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
MASS	72540	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	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	285	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3890	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	2200	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PULSE	3

GPS1	310322,183313,4744.722,-12223.770,1,0.9,4,15.4	TGT_RADIUS	100.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.30	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-43.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310322,183859,4744.724,-12223.708,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	199.0,2780,-17.6,-10.000,-21.21,2209,0.193
SPEED_LIMITS	0.173,0.258	D_GRID	160
TGT_NAME	NW	IRON	1.000000,-0.003107,-0.010810,0.023425,1.071571,-0.046293,-0.005664,-0.047429,1.037216,40.049168,-1373.086060,-780.958374
TGT_LATLONG	4743.500,-12225.000

NAV	1648755373,18.0,1,stop	FG_AHR_24Vo	2.644
MODEM_MSG	CACST,8,1,20220331192639.076003,18,1636,08,0159,0150,00,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*15	FG_AHR_10Vo	2.149
FINISH	0.4,1.008416	MEM0	60148,1,0,0
SM_CCo	3858.59,181.23,1.081,0,541.8,652.7,430.9,602.99	MEM1	65508,1,0,0
SM_GC	1.17,181.23,12.19,0.54,1.081,0.098,0.096,541.8,652.7,430.9,201.0,2168.4,0,0,0,11.31,15.66,15.67	MEM2	994324,27,52364,67
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19326,640
IRIDIUM_FIX	4743.02,-12222.38,310322,182917	CAP_FILE_SIZE	206126,0
TCM_TEMP	11.68	SDSIZE	3887104,3874368
SC_FREEKB	3877888	SDFILEDIR	44,1
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	5,1648754799,47.25000,-122.00000,99.076,146322.6	SOUNDSPEED	1465.0
RAFOS_FIX	4744.242676,-12536.294922,310322,161628,5,255,5340.52	CURRENT	0.043,143.1,1
HUMID	52.08	MAGCAL	1.000000,-0.019622,-0.012960,0.027342,1.039451,-0.063644,-0.000743,-0.015562,1.015722,39.3,-1366.9,-777.5,31,0.0329,0
TEMP	9.57	IMPLIED_C_PITCH	1713,15.65,380,0.0,0.00
INTERNAL_PRESSURE	8.22861	IMPLIED_C_VBD	3016,28.481537,380,0
_24V_AH	14.68,0.783	GPS	310322,194415,4744.421,-12224.068,3,1.0,7,15.4
_10V_AH	14.70,0.166

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	713	1206	12645.83	nil	0	0	0.00
Pitch_motor	27	305	125.26	nil	0	0	0.00
Roll_motor	70	206	212.72	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	3.03	nil	0	0	0.00
Core	2259	5	170.08	SciCon	3659	7	429.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1453	0	6.84
Compass	1378	5	101.29
RAFOS	2232	40	1312.84
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
7.28	16386	-146.63	-0.88	0.00	541.4	651.7	431.2	192.2	2170.8	0.00	0.00	0	106.48	97.75	0.00	0.00	0.005	0.000	0.000	2931.41	2968.56	2894.25	192.06	2171.00	0	0	0	16.01	30.00	30.00
106.83	18727	-146.63	-0.88	80.00	2930.5	2968.1	2892.8	192.5	2170.3	3.05	-1.97	19	144.41	19.49	10.53	3.62	0.006	0.305	0.133	3596.25	3648.06	3544.44	1534.88	3665.62	0	0	0	16.03	15.82	15.91
282.64	1188	-146.63	-0.96	0.00	3597.8	3648.4	3547.2	1535.0	3665.2	18.84	-8.51	54	288.31	0.00	0.00	3.39	0.000	0.000	0.069	3597.59	3648.19	3547.00	1534.81	2171.75	0	0	0	30.00	30.00	15.96
472.70	4257	-146.63	-1.14	0.00	3598.5	3648.9	3548.1	1534.6	2171.9	31.51	-7.27	92	477.10	0.00	0.44	0.00	0.000	0.081	0.000	3597.53	3648.12	3546.94	1460.69	2171.88	0	0	0	30.00	16.01	30.00
657.78	160	-146.63	-1.21	0.00	3598.4	3649.0	3547.8	1460.8	2171.9	47.33	-8.09	129	662.00	0.00	0.00	0.00	0.000	0.000	0.000	3599.19	3650.00	3548.38	1460.38	2171.88	0	0	0	30.00	30.00	30.00
842.81	676	-146.63	-1.28	-80.00	3598.7	3648.8	3548.6	1460.4	2171.6	62.58	-8.09	166	848.52	0.00	0.00	3.52	0.000	0.000	0.135	3598.91	3649.31	3548.50	1459.81	733.19	0	0	0	30.00	30.00	16.00
877.81	1060	-146.63	-1.28	0.00	3598.8	3649.2	3548.2	1460.0	733.2	65.68	-8.81	173	883.50	0.00	0.00	3.39	0.000	0.000	0.066	3598.06	3648.50	3547.62	1459.81	2222.56	0	0	0	30.00	30.00	16.04
1067.85	4517	-146.63	-1.34	80.00	3598.8	3649.2	3548.4	1460.1	2222.1	81.39	-8.16	211	1073.61	0.00	0.25	3.45	0.000	0.088	0.132	3597.69	3648.38	3547.00	1411.06	3665.25	0	0	0	30.00	16.04	16.02
1127.90	3205	-146.63	-1.20	0.00	3598.7	3649.1	3548.3	1411.2	3665.3	88.82	-13.14	223	1133.61	0.00	0.38	3.37	0.000	0.197	0.069	3599.19	3649.38	3549.00	1460.19	2172.56	0	0	0	30.00	15.99	16.06
1318.83	548	-146.63	-1.20	-80.00	3598.9	3649.0	3548.8	1459.8	2172.8	105.52	-7.61	253	1323.78	0.00	0.00	3.51	0.000	0.000	0.135	3599.00	3649.19	3548.81	1459.81	733.31	0	0	0	30.00	30.00	16.00
1373.07	1060	-146.63	-1.20	0.00	3599.1	3649.3	3548.8	1460.2	733.7	110.62	-9.45	264	1379.51	0.00	0.00	3.39	0.000	0.000	0.067	3599.38	3648.81	3549.94	1459.88	2221.19	0	0	0	30.00	30.00	16.03
1688.86	292	-146.63	-1.20	80.00	3598.9	3649.0	3548.9	1459.9	2222.9	136.46	-8.95	296	1693.79	0.00	0.00	3.46	0.000	0.000	0.134	3598.72	3648.25	3549.19	1460.19	3662.88	0	0	0	30.00	30.00	15.99
1813	end dive: TARGET_DEPTH_EXCEEDED
state	1813	begin apogee
1817.33	10243	0.00	-0.20	0.00	3599.2	3649.1	3549.3	1459.9	2367.9	150.21	-11.00	321	1957.81	134.53	1.69	0.11	1.146	0.195	0.206	2996.38	3072.75	2920.00	1701.88	2426.44	0	0	0	11.29	15.94	15.53
1958	end apogee: CONTROL_FINISHED_OK
state	1958	begin climb
1958.69	10759	146.63	0.88	-80.00	2998.3	3073.2	2923.5	1700.9	2427.6	152.29	0.00	335	2071.27	100.82	1.76	3.77	1.207	0.138	0.125	2398.72	2492.19	2305.25	1966.06	933.44	0	0	0	11.29	15.51	15.36
2128.64	1028	146.63	0.88	0.00	2395.3	2485.3	2305.3	1965.8	933.2	138.54	11.44	368	2135.13	0.00	0.00	3.52	0.000	0.000	0.071	2394.59	2485.94	2303.25	1965.62	2417.75	0	0	0	30.00	30.00	15.54
2444.43	8486	181.15	0.93	80.00	2394.8	2484.2	2305.3	1966.2	2418.1	110.69	8.40	400	2491.32	40.21	0.00	3.62	1.034	0.000	0.147	2257.06	2354.94	2159.19	1966.75	3864.31	0	0	0	11.23	30.00	15.62
2523.68	1028	181.15	0.93	0.00	2258.7	2355.4	2162.0	1965.7	3865.0	102.25	12.26	416	2530.15	0.00	0.00	3.45	0.000	0.000	0.066	2258.84	2354.94	2162.75	1966.06	2369.62	0	0	0	30.00	30.00	15.69
2834.55	516	181.15	0.93	-80.00	2258.0	2354.6	2161.3	1966.1	2367.4	70.90	10.05	476	2840.23	0.00	0.00	3.51	0.000	0.000	0.128	2255.72	2351.31	2160.12	1966.12	932.31	0	0	0	30.00	30.00	15.80
2949.53	9254	195.83	0.94	0.00	2255.7	2350.3	2161.0	1966.0	931.9	59.69	9.32	499	2991.98	36.37	0.00	3.45	0.913	0.000	0.072	2196.56	2294.50	2098.62	1965.94	2418.31	0	0	0	11.37	30.00	15.86
3175.28	10919	225.89	1.08	-80.00	2183.0	2280.4	2085.6	1965.9	2419.0	40.32	8.61	544	3206.39	21.83	0.27	3.64	1.071	0.097	0.121	2077.72	2182.81	1972.62	2016.44	932.50	0	0	0	11.34	15.81	15.72
3290.21	1028	225.89	1.08	0.00	2074.3	2174.9	1973.7	2016.4	932.7	28.57	10.56	567	3295.93	0.00	0.00	3.46	0.000	0.000	0.073	2073.75	2175.19	1972.31	2016.44	2418.88	0	0	0	30.00	30.00	15.79
3480.25	8870	252.29	1.17	-80.00	2074.3	2175.2	1973.4	2016.1	2419.3	11.35	8.78	605	3511.37	22.55	0.00	3.66	1.050	0.000	0.126	1969.12	2075.19	1863.06	2016.88	932.19	0	0	0	11.36	30.00	15.76
3555.28	11431	335.70	1.38	0.00	1967.6	2072.9	1862.2	2016.2	932.4	6.44	6.14	620	3622.34	59.06	0.41	3.45	1.093	0.093	0.071	1631.94	1755.25	1508.62	2089.94	2420.06	0	0	0	11.40	15.81	15.82
3625	end climb: SURFACE_DEPTH_REACHED
state	3625	begin surface coast
3655	end surface coast: CONTROL_FINISHED_OK
state	3655	begin surface