Glider dive log

HoodCanal May22 * SG240 * Dive index * Mission links * Dive 5 * 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 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 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 2999.9653 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 1757.9609 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 17.782076 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 14.759938 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 3.7905366 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 5 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 14.759938 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.7905366 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 17.782076 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 1757.9609 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 2999.9653 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 5 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 230522,204251,4736.449,-12256.835,1,1.5,4,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,204752,4736.463,-12256.825,2,1.5,5,15.5 MHEAD_RNG_PITCHd_Wd 186.0,885,-17.6,-10.000,-21.21,2209,0.126

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,8,0,20220523211808.012678,06,32767,45,0104,0150,07,00,00,00,00,1,028,240,0,5,1,0,150,14.1,3.53,-100,-0.53,-01,0.08,69,10000,5000,0,-1,00,00*50 FG_AHR_24Vo 3.945

NET_PING 1653340691,28,584.188538,14.100000,0.225302 FG_AHR_10Vo 14.786

NAV 1653341718,82.8,0,stop MEM0 60148,1,0,0

FREEZE 2.68,13.881,-1.471,0,1,0 MEM1 65508,1,0,0

SM_CCo 4040.53,226.48,0.933,0,500.5,523.2,477.8,612.88 MEM2 944448,36,102160,62

SM_GC 1.56,0.00,12.23,3.48,0.000,0.068,0.063,498.1,521.3,474.8,194.9,2169.1,0,0,0,30.00,15.63,15.64 DATA_FILE_SIZE 16098,568

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 399249,0

IRIDIUM_FIX 4735.82,-12235.86,230522,204345 SDSIZE 3887104,3872832

TCM_TEMP 17.78 SDFILEDIR 69,1

SC_FREEKB 3877184 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.051, 60.4,1

HUMID 49.59 MAGCAL 1.000000,0.011903,-0.069873,-0.040366,1.090233,0.020570,0.053222,-0.091094,1.063762,120.7,-952.9,-473.5,22,0.0349,1

TEMP 10.51 IMPLIED_C_PITCH 1814,18.52,293,1786.2,18.15

INTERNAL_PRESSURE 7.99905 IMPLIED_C_VBD 3075,48.169796,293,3037.6

_24V_AH 15.11,4.727 GPS 230522,215830,4736.219,-12257.022,9,1.0,32,15.5

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 633 1110 10635.95 nil 0 0 0.00

Pitch_motor 29 252 114.63 nil 0 0 0.00

Roll_motor 78 201 240.01 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 14 15 3.28 nil 0 0 0.00

Core 2223 5 170.75 SciCon 3803 6 368.57

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1727 0 8.29

Compass 1140 5 85.52

RAFOS 875 40 525.57

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

6.69 16386 -146.63 -1.17 0.00 538.4 559.4 517.4 187.6 2170.8 0.00 0.00 0 88.23 77.07 0.00 0.00 0.005 0.000 0.000 2793.94 2826.94 2760.94 187.44 2170.56 0 0 0 15.43 30.00 30.00

88.59 18727 -146.63 -1.17 80.00 2792.3 2825.6 2759.0 187.6 2170.1 3.21 -2.20 14 131.26 20.39 9.65 3.47 0.006 0.253 0.123 3594.41 3653.19 3535.62 1472.75 3617.38 0 0 0 16.08 15.92 16.00

359.82 3237 -146.63 -0.80 0.00 3597.3 3654.6 3540.1 1473.1 3617.0 26.93 -6.58 67 366.81 0.00 0.63 3.38 0.000 0.195 0.053 3597.94 3654.94 3540.94 1560.69 2117.19 0 0 0 30.00 16.00 16.09

550.30 420 -146.63 -0.76 80.00 3598.2 3655.6 3540.8 1562.4 2117.6 36.81 -5.35 105 557.04 0.00 0.00 3.63 0.000 0.000 0.117 3599.09 3656.69 3541.50 1562.62 3617.00 0 0 0 30.00 30.00 16.07

737.56 3237 -146.63 -0.63 0.00 3598.3 3655.6 3541.0 1563.0 3616.9 51.56 -8.90 140 745.12 0.00 0.26 3.40 0.000 0.181 0.055 3599.47 3656.12 3542.81 1605.38 2118.50 0 0 0 30.00 16.01 16.09

933.31 420 -146.63 -0.68 80.00 3598.6 3655.8 3541.5 1604.6 2118.3 63.47 -6.30 160 940.35 0.00 0.00 3.64 0.000 0.000 0.122 3599.19 3656.19 3542.19 1604.88 3616.75 0 0 0 30.00 30.00 16.06

968.55 1060 -146.63 -0.68 0.00 3598.9 3655.4 3542.3 1604.6 3616.2 66.17 -6.99 167 974.80 0.00 0.00 3.41 0.000 0.000 0.054 3599.09 3656.00 3542.19 1604.75 2119.44 0 0 0 30.00 30.00 16.10

1158.89 4257 -146.63 -0.75 0.00 3598.6 3655.4 3541.8 1604.8 2119.8 78.95 -6.75 187 1160.71 0.00 0.26 0.00 0.000 0.076 0.000 3597.81 3655.25 3540.38 1556.25 2119.88 0 0 0 30.00 16.11 30.00

1348.83 292 -146.63 -0.75 80.00 3598.9 3656.0 3541.9 1556.4 2119.8 96.10 -9.43 206 1355.95 0.00 0.00 3.62 0.000 0.000 0.125 3599.62 3656.44 3542.81 1554.19 3617.56 0 0 0 30.00 30.00 16.08

1424.43 3205 -146.63 -0.66 0.00 3598.6 3655.5 3541.7 1556.8 3617.9 104.40 -11.18 221 1431.70 0.00 0.31 3.42 0.000 0.174 0.057 3599.25 3655.25 3543.25 1597.25 2121.94 0 0 0 30.00 16.07 16.14

1619.50 160 -146.63 -0.74 0.00 3598.5 3655.4 3541.6 1597.3 2121.7 120.05 -7.68 241 1621.07 0.00 0.00 0.00 0.000 0.000 0.000 3598.66 3656.00 3541.31 1597.12 2121.69 0 0 0 30.00 30.00 30.00

1809.44 4517 -146.63 -0.82 80.00 3598.7 3655.6 3541.8 1597.0 2120.9 134.07 -7.26 260 1821.44 0.00 0.31 3.65 0.000 0.075 0.127 3598.88 3655.88 3541.88 1542.25 3615.69 0 0 0 30.00 16.13 16.10

1859.91 3205 -146.63 -0.71 0.00 3598.7 3655.0 3542.3 1542.2 3615.2 139.48 -11.37 270 1867.18 0.00 0.34 3.41 0.000 0.176 0.057 3598.03 3654.25 3541.81 1585.38 2121.25 0 0 0 30.00 16.10 16.16

1959 end dive: HALF_MISSION_TIME_EXCEEDED

state 1959 begin apogee

1960.18 10243 0.00 -0.28 0.00 3598.8 3655.8 3541.7 1585.5 2178.7 148.12 -8.46 281 2067.58 101.15 0.68 0.09 1.110 0.149 0.201 2998.12 3056.00 2940.25 1689.00 2119.00 0 0 0 11.93 16.10 15.79

2069 end apogee: CONTROL_FINISHED_OK

state 2069 begin climb

2068.71 10759 146.63 1.17 -80.00 2996.7 3054.6 2938.8 1689.7 2118.4 153.06 0.00 291 2192.32 105.76 2.37 3.72 1.076 0.130 0.129 2397.28 2467.44 2327.12 2041.12 684.31 0 0 0 11.79 15.78 15.56

2220.81 5253 146.63 1.06 0.00 2394.1 2465.7 2322.5 2041.0 684.3 142.62 10.91 319 2228.02 0.00 0.28 3.50 0.000 0.167 0.061 2391.88 2463.75 2320.00 2008.94 2167.88 0 0 0 30.00 15.63 15.67

2415.88 10919 164.84 1.15 -80.00 2392.6 2466.1 2319.1 2008.5 2168.4 124.77 9.16 339 2438.68 14.56 0.20 3.82 0.940 0.088 0.126 2325.16 2400.50 2249.81 2043.94 684.19 0 0 0 11.72 15.83 15.76

2495.18 5253 164.84 1.04 0.00 2323.1 2397.8 2248.3 2043.7 684.4 115.11 13.12 353 2502.44 0.00 0.34 3.47 0.000 0.156 0.062 2323.19 2399.12 2247.25 2000.50 2169.19 0 0 0 30.00 15.79 15.83

2690.24 10919 204.22 1.19 -80.00 2321.2 2397.5 2245.0 2000.1 2169.3 98.39 8.18 373 2729.28 30.33 0.32 3.85 1.006 0.076 0.126 2163.88 2244.19 2083.56 2056.56 684.38 0 0 0 11.71 15.90 15.77

2802.06 5253 204.22 1.10 0.00 2160.9 2241.4 2080.4 2056.8 684.3 84.60 13.68 395 2809.65 0.00 0.30 3.46 0.000 0.155 0.063 2163.03 2243.25 2082.81 2018.00 2170.06 0 0 0 30.00 15.81 15.85

2992.79 10919 220.81 1.24 -80.00 2159.0 2241.4 2076.6 2017.6 2169.2 67.19 9.23 414 3014.38 13.74 0.29 3.80 0.912 0.078 0.126 2099.31 2182.56 2016.06 2066.19 684.31 0 0 0 11.75 15.93 15.84

3062.87 5253 220.81 1.16 0.00 2094.4 2177.9 2010.8 2066.1 684.1 57.69 14.12 428 3070.12 0.00 0.28 3.44 0.000 0.162 0.062 2094.09 2177.88 2010.31 2031.25 2169.50 0 0 0 30.00 15.88 15.93

3250.92 10919 226.34 1.27 -80.00 2093.5 2178.3 2008.6 2031.2 2169.8 38.52 9.74 459 3267.37 6.09 0.25 3.78 0.676 0.081 0.126 2074.44 2159.44 1989.44 2075.38 684.06 0 0 0 11.82 15.98 15.93

3335.88 5253 226.34 1.20 0.00 2073.6 2158.6 1988.6 2074.8 684.0 27.13 14.28 476 3342.77 0.00 0.26 3.43 0.000 0.158 0.063 2074.69 2159.75 1989.62 2040.44 2168.44 0 0 0 30.00 15.95 15.99

3526.28 10919 278.53 1.42 -80.00 2072.7 2158.6 1986.7 2040.2 2168.5 9.72 7.58 514 3575.46 38.37 0.42 3.76 0.951 0.077 0.125 1861.41 1954.56 1768.25 2107.12 684.44 0 0 0 11.81 16.03 15.88

3802 end climb: NO_VERTICAL_VELOCITY

state 3802 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	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	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	2999.9653	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	1757.9609	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	17.782076	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	14.759938	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	3.7905366	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	230522,204251,4736.449,-12256.835,1,1.5,4,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,204752,4736.463,-12256.825,2,1.5,5,15.5	MHEAD_RNG_PITCHd_Wd	186.0,885,-17.6,-10.000,-21.21,2209,0.126
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,8,0,20220523211808.012678,06,32767,45,0104,0150,07,00,00,00,00,1,028,240,0,5,1,0,150,14.1,3.53,-100,-0.53,-01,0.08,69,10000,5000,0,-1,00,00*50	FG_AHR_24Vo	3.945
NET_PING	1653340691,28,584.188538,14.100000,0.225302	FG_AHR_10Vo	14.786
NAV	1653341718,82.8,0,stop	MEM0	60148,1,0,0
FREEZE	2.68,13.881,-1.471,0,1,0	MEM1	65508,1,0,0
SM_CCo	4040.53,226.48,0.933,0,500.5,523.2,477.8,612.88	MEM2	944448,36,102160,62
SM_GC	1.56,0.00,12.23,3.48,0.000,0.068,0.063,498.1,521.3,474.8,194.9,2169.1,0,0,0,30.00,15.63,15.64	DATA_FILE_SIZE	16098,568
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	399249,0
IRIDIUM_FIX	4735.82,-12235.86,230522,204345	SDSIZE	3887104,3872832
TCM_TEMP	17.78	SDFILEDIR	69,1
SC_FREEKB	3877184	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.051, 60.4,1
HUMID	49.59	MAGCAL	1.000000,0.011903,-0.069873,-0.040366,1.090233,0.020570,0.053222,-0.091094,1.063762,120.7,-952.9,-473.5,22,0.0349,1
TEMP	10.51	IMPLIED_C_PITCH	1814,18.52,293,1786.2,18.15
INTERNAL_PRESSURE	7.99905	IMPLIED_C_VBD	3075,48.169796,293,3037.6
_24V_AH	15.11,4.727	GPS	230522,215830,4736.219,-12257.022,9,1.0,32,15.5
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	633	1110	10635.95	nil	0	0	0.00
Pitch_motor	29	252	114.63	nil	0	0	0.00
Roll_motor	78	201	240.01	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	14	15	3.28	nil	0	0	0.00
Core	2223	5	170.75	SciCon	3803	6	368.57
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1727	0	8.29
Compass	1140	5	85.52
RAFOS	875	40	525.57
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
6.69	16386	-146.63	-1.17	0.00	538.4	559.4	517.4	187.6	2170.8	0.00	0.00	0	88.23	77.07	0.00	0.00	0.005	0.000	0.000	2793.94	2826.94	2760.94	187.44	2170.56	0	0	0	15.43	30.00	30.00
88.59	18727	-146.63	-1.17	80.00	2792.3	2825.6	2759.0	187.6	2170.1	3.21	-2.20	14	131.26	20.39	9.65	3.47	0.006	0.253	0.123	3594.41	3653.19	3535.62	1472.75	3617.38	0	0	0	16.08	15.92	16.00
359.82	3237	-146.63	-0.80	0.00	3597.3	3654.6	3540.1	1473.1	3617.0	26.93	-6.58	67	366.81	0.00	0.63	3.38	0.000	0.195	0.053	3597.94	3654.94	3540.94	1560.69	2117.19	0	0	0	30.00	16.00	16.09
550.30	420	-146.63	-0.76	80.00	3598.2	3655.6	3540.8	1562.4	2117.6	36.81	-5.35	105	557.04	0.00	0.00	3.63	0.000	0.000	0.117	3599.09	3656.69	3541.50	1562.62	3617.00	0	0	0	30.00	30.00	16.07
737.56	3237	-146.63	-0.63	0.00	3598.3	3655.6	3541.0	1563.0	3616.9	51.56	-8.90	140	745.12	0.00	0.26	3.40	0.000	0.181	0.055	3599.47	3656.12	3542.81	1605.38	2118.50	0	0	0	30.00	16.01	16.09
933.31	420	-146.63	-0.68	80.00	3598.6	3655.8	3541.5	1604.6	2118.3	63.47	-6.30	160	940.35	0.00	0.00	3.64	0.000	0.000	0.122	3599.19	3656.19	3542.19	1604.88	3616.75	0	0	0	30.00	30.00	16.06
968.55	1060	-146.63	-0.68	0.00	3598.9	3655.4	3542.3	1604.6	3616.2	66.17	-6.99	167	974.80	0.00	0.00	3.41	0.000	0.000	0.054	3599.09	3656.00	3542.19	1604.75	2119.44	0	0	0	30.00	30.00	16.10
1158.89	4257	-146.63	-0.75	0.00	3598.6	3655.4	3541.8	1604.8	2119.8	78.95	-6.75	187	1160.71	0.00	0.26	0.00	0.000	0.076	0.000	3597.81	3655.25	3540.38	1556.25	2119.88	0	0	0	30.00	16.11	30.00
1348.83	292	-146.63	-0.75	80.00	3598.9	3656.0	3541.9	1556.4	2119.8	96.10	-9.43	206	1355.95	0.00	0.00	3.62	0.000	0.000	0.125	3599.62	3656.44	3542.81	1554.19	3617.56	0	0	0	30.00	30.00	16.08
1424.43	3205	-146.63	-0.66	0.00	3598.6	3655.5	3541.7	1556.8	3617.9	104.40	-11.18	221	1431.70	0.00	0.31	3.42	0.000	0.174	0.057	3599.25	3655.25	3543.25	1597.25	2121.94	0	0	0	30.00	16.07	16.14
1619.50	160	-146.63	-0.74	0.00	3598.5	3655.4	3541.6	1597.3	2121.7	120.05	-7.68	241	1621.07	0.00	0.00	0.00	0.000	0.000	0.000	3598.66	3656.00	3541.31	1597.12	2121.69	0	0	0	30.00	30.00	30.00
1809.44	4517	-146.63	-0.82	80.00	3598.7	3655.6	3541.8	1597.0	2120.9	134.07	-7.26	260	1821.44	0.00	0.31	3.65	0.000	0.075	0.127	3598.88	3655.88	3541.88	1542.25	3615.69	0	0	0	30.00	16.13	16.10
1859.91	3205	-146.63	-0.71	0.00	3598.7	3655.0	3542.3	1542.2	3615.2	139.48	-11.37	270	1867.18	0.00	0.34	3.41	0.000	0.176	0.057	3598.03	3654.25	3541.81	1585.38	2121.25	0	0	0	30.00	16.10	16.16
1959	end dive: HALF_MISSION_TIME_EXCEEDED
state	1959	begin apogee
1960.18	10243	0.00	-0.28	0.00	3598.8	3655.8	3541.7	1585.5	2178.7	148.12	-8.46	281	2067.58	101.15	0.68	0.09	1.110	0.149	0.201	2998.12	3056.00	2940.25	1689.00	2119.00	0	0	0	11.93	16.10	15.79
2069	end apogee: CONTROL_FINISHED_OK
state	2069	begin climb
2068.71	10759	146.63	1.17	-80.00	2996.7	3054.6	2938.8	1689.7	2118.4	153.06	0.00	291	2192.32	105.76	2.37	3.72	1.076	0.130	0.129	2397.28	2467.44	2327.12	2041.12	684.31	0	0	0	11.79	15.78	15.56
2220.81	5253	146.63	1.06	0.00	2394.1	2465.7	2322.5	2041.0	684.3	142.62	10.91	319	2228.02	0.00	0.28	3.50	0.000	0.167	0.061	2391.88	2463.75	2320.00	2008.94	2167.88	0	0	0	30.00	15.63	15.67
2415.88	10919	164.84	1.15	-80.00	2392.6	2466.1	2319.1	2008.5	2168.4	124.77	9.16	339	2438.68	14.56	0.20	3.82	0.940	0.088	0.126	2325.16	2400.50	2249.81	2043.94	684.19	0	0	0	11.72	15.83	15.76
2495.18	5253	164.84	1.04	0.00	2323.1	2397.8	2248.3	2043.7	684.4	115.11	13.12	353	2502.44	0.00	0.34	3.47	0.000	0.156	0.062	2323.19	2399.12	2247.25	2000.50	2169.19	0	0	0	30.00	15.79	15.83
2690.24	10919	204.22	1.19	-80.00	2321.2	2397.5	2245.0	2000.1	2169.3	98.39	8.18	373	2729.28	30.33	0.32	3.85	1.006	0.076	0.126	2163.88	2244.19	2083.56	2056.56	684.38	0	0	0	11.71	15.90	15.77
2802.06	5253	204.22	1.10	0.00	2160.9	2241.4	2080.4	2056.8	684.3	84.60	13.68	395	2809.65	0.00	0.30	3.46	0.000	0.155	0.063	2163.03	2243.25	2082.81	2018.00	2170.06	0	0	0	30.00	15.81	15.85
2992.79	10919	220.81	1.24	-80.00	2159.0	2241.4	2076.6	2017.6	2169.2	67.19	9.23	414	3014.38	13.74	0.29	3.80	0.912	0.078	0.126	2099.31	2182.56	2016.06	2066.19	684.31	0	0	0	11.75	15.93	15.84
3062.87	5253	220.81	1.16	0.00	2094.4	2177.9	2010.8	2066.1	684.1	57.69	14.12	428	3070.12	0.00	0.28	3.44	0.000	0.162	0.062	2094.09	2177.88	2010.31	2031.25	2169.50	0	0	0	30.00	15.88	15.93
3250.92	10919	226.34	1.27	-80.00	2093.5	2178.3	2008.6	2031.2	2169.8	38.52	9.74	459	3267.37	6.09	0.25	3.78	0.676	0.081	0.126	2074.44	2159.44	1989.44	2075.38	684.06	0	0	0	11.82	15.98	15.93
3335.88	5253	226.34	1.20	0.00	2073.6	2158.6	1988.6	2074.8	684.0	27.13	14.28	476	3342.77	0.00	0.26	3.43	0.000	0.158	0.063	2074.69	2159.75	1989.62	2040.44	2168.44	0	0	0	30.00	15.95	15.99
3526.28	10919	278.53	1.42	-80.00	2072.7	2158.6	1986.7	2040.2	2168.5	9.72	7.58	514	3575.46	38.37	0.42	3.76	0.951	0.077	0.125	1861.41	1954.56	1768.25	2107.12	684.44	0	0	0	11.81	16.03	15.88
3802	end climb: NO_VERTICAL_VELOCITY
state	3802	begin surface