Glider dive log

HoodCanal 21May22 * SG235 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 15 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 1 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 1 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 120 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 165 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 2 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 40 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 60 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 400 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2030 MAXI_24V 2 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 157.24509 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 17.029999 FG_AHR_24V 197.4496 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.48517 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72383 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 0 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 400 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 120 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 157.24509 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 197.4496 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 17.029999 SM_CC 590.98499

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 15 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.5 PM_PROFILE 3.0 T_DIVE 40

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2030 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 2

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.48517 T_TURN 225

C_VBD 2950 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72383 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 2 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.023 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 15 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 1 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 165 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 0 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 1 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 210522,154801,4736.945,-12256.580,2,1.0,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,154959,4736.934,-12256.596,2,1.0,5,15.5 MHEAD_RNG_PITCHd_Wd 180.8,1802,-17.6,-10.000,-21.21,2209,0.138

SPEED_LIMITS 0.173,0.258 D_GRID 164

TGT_NAME S IRON 1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653150974,1.2,0,stop _24V_AH 14.71,131.906

NET CACST,8,1,20220521163019.706158,06,11703,40,0135,0150,74,01,01,00,01,1,045,121,3,5,7,0,150,8.5,3.89,-100,-0.89,-01,0.03,52,10000,5000,0,5,01,01*42 _10V_AH 14.70,0.000

NET_PING 1653150611,25,1563.264038,17.100000,0.684444 FG_AHR_24Vo 197.643

FREEZE 1.02,11.909,-1.471,0,1,0 FG_AHR_10Vo 157.292

FINISH 1.0,1.020404 MEM0 60148,1,0,0

SM_CCo 3102.23,311.04,1.143,0,541.2,615.1,467.2,590.89 MEM1 65508,1,0,0

SM_GC 1.69,311.04,13.19,0.41,1.143,0.088,0.099,541.2,615.1,467.2,217.7,2773.8,0,0,0,11.72,15.74,15.79 MEM2 942816,28,103532,83

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12954,439

IRIDIUM_FIX 4739.11,-12242.00,210522,154523 CAP_FILE_SIZE 324997,0

TCM_TEMP 12.89 SDSIZE 3918848,3885632

SC_FREEKB 3878368 SDFILEDIR 241,3

PM_FREEKB_00 61919552 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 0 MAGCAL 1.000000,-0.037971,-0.012847,-0.048827,1.085390,0.021022,-0.004417,-0.020626,1.149482,-960.4,-1116.8,-49.5,17,0.0207,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 1995,16.32,227,2012.4,16.67

HUMID 47.79 IMPLIED_C_VBD 3095,33.537407,227,0

TEMP 9.95 GPS 210522,164254,4736.661,-12256.745,0,0.9,2,15.5

INTERNAL_PRESSURE 7.88072

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 671 1327 13109.94 nil 0 0 0.00

Pitch_motor 28 288 122.51 nil 0 0 0.00

Roll_motor 58 244 209.33 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 3.14 nil 0 0 0.00

Core 1655 5 124.58 SciCon 2757 6 281.75

Fast 0 0 0.00 PMAR 2772 17 717.29

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1176 0 5.53

Compass 887 5 65.25

RAFOS 2230 40 1311.48

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.97 16386 -146.63 -1.21 0.00 541.3 618.9 463.7 215.3 2722.8 0.00 0.00 0 153.13 139.77 0.00 0.00 0.005 0.000 0.000 3470.75 3478.88 3462.62 215.44 2722.06 0 0 0 14.93 30.00 30.00

153.34 18983 -146.63 -1.21 -80.00 3470.7 3479.3 3462.1 214.9 2722.8 3.16 -1.12 27 174.56 2.24 11.76 3.37 0.014 0.289 0.128 3547.09 3567.44 3526.75 1736.12 1279.12 0 0 0 15.96 15.76 15.85

402.69 1060 -146.63 -1.21 0.00 3548.4 3571.7 3525.1 1735.9 1279.4 21.49 -5.92 77 408.27 0.00 0.00 3.32 0.000 0.000 0.067 3548.22 3570.12 3526.31 1736.06 2768.50 0 0 0 30.00 30.00 15.90

593.23 548 -146.63 -1.21 -80.00 3548.7 3571.6 3525.8 1735.9 2769.1 30.88 -5.05 113 598.85 0.00 0.00 3.57 0.000 0.000 0.124 3549.84 3572.94 3526.75 1736.38 1279.31 0 0 0 30.00 30.00 15.84

653.22 1028 -146.63 -1.21 0.00 3548.1 3571.4 3524.7 1735.8 1279.5 35.85 -8.69 125 658.96 0.00 0.00 3.37 0.000 0.000 0.071 3548.31 3571.44 3525.19 1736.88 2770.75 0 0 0 30.00 30.00 15.87

843.25 292 -146.63 -1.21 80.00 3548.7 3572.4 3525.0 1736.4 2770.3 49.26 -7.31 163 848.74 0.00 0.00 2.74 0.000 0.000 0.132 3549.12 3571.38 3526.88 1736.25 3910.62 0 0 0 30.00 30.00 15.83

877.53 1060 -146.63 -1.21 0.00 3549.1 3572.4 3525.8 1735.9 3911.2 52.05 -7.78 170 883.72 0.00 0.00 2.69 0.000 0.000 0.070 3549.50 3572.88 3526.12 1736.31 2726.50 0 0 0 30.00 30.00 15.87

1073.27 516 -146.63 -1.21 -80.00 3548.9 3571.8 3526.0 1736.1 2725.2 67.70 -8.34 190 1078.28 0.00 0.00 3.45 0.000 0.000 0.128 3550.03 3572.19 3527.88 1736.00 1280.38 0 0 0 30.00 30.00 15.83

1113.29 1028 -146.63 -1.21 0.00 3548.6 3571.6 3525.6 1735.9 1280.5 71.49 -9.48 198 1118.13 0.00 0.00 3.36 0.000 0.000 0.071 3549.44 3572.88 3526.00 1735.94 2768.62 0 0 0 30.00 30.00 15.85

1303.30 260 -146.63 -1.21 80.00 3549.3 3572.4 3526.2 1736.4 2768.5 87.96 -8.90 218 1308.04 0.00 0.00 2.76 0.000 0.000 0.133 3549.97 3573.62 3526.31 1736.06 3911.62 0 0 0 30.00 30.00 15.83

1397.60 1028 -146.63 -1.21 0.00 3548.8 3572.4 3525.2 1735.8 3911.1 97.15 -9.48 237 1403.77 0.00 0.00 2.69 0.000 0.000 0.072 3550.56 3573.62 3527.50 1736.19 2725.25 0 0 0 30.00 30.00 15.86

1593.33 0 -146.63 -1.21 0.00 3549.1 3572.9 3525.2 1736.1 2725.4 114.69 -9.14 257 1594.67 0.00 0.00 0.00 0.000 0.000 0.000 3548.19 3571.94 3524.44 1735.56 2726.00 0 0 0 30.00 30.00 30.00

1653 end dive: TARGET_DEPTH_EXCEEDED

state 1653 begin apogee

1654.51 10243 0.00 -0.29 0.00 3548.9 3572.9 3524.9 1735.9 2574.2 120.05 -8.93 263 1765.64 107.68 1.49 0.08 1.327 0.150 0.244 2947.34 3012.50 2882.19 1960.12 2623.00 0 0 0 11.76 15.82 15.38

1770 end apogee: CONTROL_FINISHED_OK

state 1770 begin climb

1770.92 10759 146.63 1.21 -80.00 2948.0 3012.2 2883.8 1960.3 2623.2 122.42 0.00 274 1892.22 110.79 2.40 3.62 1.283 0.101 0.135 2348.69 2426.50 2270.88 2327.19 1189.75 0 0 0 11.49 15.40 15.19

1910.35 1028 146.63 1.21 0.00 2347.6 2424.6 2270.6 2327.1 1189.3 107.71 16.62 300 1915.20 0.00 0.00 3.32 0.000 0.000 0.065 2345.84 2422.88 2268.81 2327.75 2620.25 0 0 0 30.00 30.00 15.31

2100.35 260 146.63 1.21 80.00 2344.2 2419.9 2268.4 2327.7 2619.3 77.81 15.23 320 2105.16 0.00 0.00 3.18 0.000 0.000 0.135 2342.69 2417.88 2267.50 2327.38 3910.25 0 0 0 30.00 30.00 15.53

2160.37 17414 146.63 1.21 0.00 2342.8 2416.9 2268.6 2327.1 3910.6 68.28 15.91 332 2165.16 0.00 0.00 3.10 0.000 0.000 0.073 2342.34 2417.00 2267.69 2327.50 2579.44 0 0 0 30.00 30.00 15.60

2345.38 16902 146.63 1.21 -80.00 2342.6 2417.6 2267.5 2327.6 2579.4 42.05 13.75 357 2350.98 0.00 0.00 3.42 0.000 0.000 0.135 2343.19 2417.75 2268.62 2327.12 1186.62 0 0 0 30.00 30.00 15.65

2373.75 17414 146.63 1.21 0.00 2341.9 2414.8 2269.0 2327.2 1186.7 37.82 15.37 362 2378.55 0.00 0.00 3.26 0.000 0.000 0.066 2342.16 2414.31 2270.00 2327.31 2622.75 0 0 0 30.00 30.00 15.67

2563.04 16646 146.63 1.21 80.00 2341.4 2414.2 2268.5 2327.7 2622.8 13.18 12.14 400 2568.57 0.00 0.00 3.13 0.000 0.000 0.134 2340.41 2412.12 2268.69 2327.62 3910.25 0 0 0 30.00 30.00 15.69

2638.06 17414 146.63 1.21 0.00 2340.6 2413.9 2267.2 2327.6 3910.8 4.39 10.53 415 2643.56 0.00 0.00 3.06 0.000 0.000 0.071 2338.69 2411.38 2266.00 2327.62 2576.88 0 0 0 30.00 30.00 15.74

2708 end climb: SURFACE_DEPTH_REACHED

state 2708 begin surface coast

2758 end surface coast: CONTROL_FINISHED_OK

state 2758 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	15	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	1	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	1	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	120	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	165	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	2	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	40	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	60	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	400	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2030	MAXI_24V	2	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	157.24509	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	17.029999	FG_AHR_24V	197.4496	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.48517	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72383	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	0	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	210522,154801,4736.945,-12256.580,2,1.0,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,154959,4736.934,-12256.596,2,1.0,5,15.5	MHEAD_RNG_PITCHd_Wd	180.8,1802,-17.6,-10.000,-21.21,2209,0.138
SPEED_LIMITS	0.173,0.258	D_GRID	164
TGT_NAME	S	IRON	1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
TGT_LATLONG	4736.000,-12257.000

NAV	1653150974,1.2,0,stop	_24V_AH	14.71,131.906
NET	CACST,8,1,20220521163019.706158,06,11703,40,0135,0150,74,01,01,00,01,1,045,121,3,5,7,0,150,8.5,3.89,-100,-0.89,-01,0.03,52,10000,5000,0,5,01,01*42	_10V_AH	14.70,0.000
NET_PING	1653150611,25,1563.264038,17.100000,0.684444	FG_AHR_24Vo	197.643
FREEZE	1.02,11.909,-1.471,0,1,0	FG_AHR_10Vo	157.292
FINISH	1.0,1.020404	MEM0	60148,1,0,0
SM_CCo	3102.23,311.04,1.143,0,541.2,615.1,467.2,590.89	MEM1	65508,1,0,0
SM_GC	1.69,311.04,13.19,0.41,1.143,0.088,0.099,541.2,615.1,467.2,217.7,2773.8,0,0,0,11.72,15.74,15.79	MEM2	942816,28,103532,83
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12954,439
IRIDIUM_FIX	4739.11,-12242.00,210522,154523	CAP_FILE_SIZE	324997,0
TCM_TEMP	12.89	SDSIZE	3918848,3885632
SC_FREEKB	3878368	SDFILEDIR	241,3
PM_FREEKB_00	61919552	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	0	MAGCAL	1.000000,-0.037971,-0.012847,-0.048827,1.085390,0.021022,-0.004417,-0.020626,1.149482,-960.4,-1116.8,-49.5,17,0.0207,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	1995,16.32,227,2012.4,16.67
HUMID	47.79	IMPLIED_C_VBD	3095,33.537407,227,0
TEMP	9.95	GPS	210522,164254,4736.661,-12256.745,0,0.9,2,15.5
INTERNAL_PRESSURE	7.88072

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	671	1327	13109.94	nil	0	0	0.00
Pitch_motor	28	288	122.51	nil	0	0	0.00
Roll_motor	58	244	209.33	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	3.14	nil	0	0	0.00
Core	1655	5	124.58	SciCon	2757	6	281.75
Fast	0	0	0.00	PMAR	2772	17	717.29
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1176	0	5.53
Compass	887	5	65.25
RAFOS	2230	40	1311.48
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.97	16386	-146.63	-1.21	0.00	541.3	618.9	463.7	215.3	2722.8	0.00	0.00	0	153.13	139.77	0.00	0.00	0.005	0.000	0.000	3470.75	3478.88	3462.62	215.44	2722.06	0	0	0	14.93	30.00	30.00
153.34	18983	-146.63	-1.21	-80.00	3470.7	3479.3	3462.1	214.9	2722.8	3.16	-1.12	27	174.56	2.24	11.76	3.37	0.014	0.289	0.128	3547.09	3567.44	3526.75	1736.12	1279.12	0	0	0	15.96	15.76	15.85
402.69	1060	-146.63	-1.21	0.00	3548.4	3571.7	3525.1	1735.9	1279.4	21.49	-5.92	77	408.27	0.00	0.00	3.32	0.000	0.000	0.067	3548.22	3570.12	3526.31	1736.06	2768.50	0	0	0	30.00	30.00	15.90
593.23	548	-146.63	-1.21	-80.00	3548.7	3571.6	3525.8	1735.9	2769.1	30.88	-5.05	113	598.85	0.00	0.00	3.57	0.000	0.000	0.124	3549.84	3572.94	3526.75	1736.38	1279.31	0	0	0	30.00	30.00	15.84
653.22	1028	-146.63	-1.21	0.00	3548.1	3571.4	3524.7	1735.8	1279.5	35.85	-8.69	125	658.96	0.00	0.00	3.37	0.000	0.000	0.071	3548.31	3571.44	3525.19	1736.88	2770.75	0	0	0	30.00	30.00	15.87
843.25	292	-146.63	-1.21	80.00	3548.7	3572.4	3525.0	1736.4	2770.3	49.26	-7.31	163	848.74	0.00	0.00	2.74	0.000	0.000	0.132	3549.12	3571.38	3526.88	1736.25	3910.62	0	0	0	30.00	30.00	15.83
877.53	1060	-146.63	-1.21	0.00	3549.1	3572.4	3525.8	1735.9	3911.2	52.05	-7.78	170	883.72	0.00	0.00	2.69	0.000	0.000	0.070	3549.50	3572.88	3526.12	1736.31	2726.50	0	0	0	30.00	30.00	15.87
1073.27	516	-146.63	-1.21	-80.00	3548.9	3571.8	3526.0	1736.1	2725.2	67.70	-8.34	190	1078.28	0.00	0.00	3.45	0.000	0.000	0.128	3550.03	3572.19	3527.88	1736.00	1280.38	0	0	0	30.00	30.00	15.83
1113.29	1028	-146.63	-1.21	0.00	3548.6	3571.6	3525.6	1735.9	1280.5	71.49	-9.48	198	1118.13	0.00	0.00	3.36	0.000	0.000	0.071	3549.44	3572.88	3526.00	1735.94	2768.62	0	0	0	30.00	30.00	15.85
1303.30	260	-146.63	-1.21	80.00	3549.3	3572.4	3526.2	1736.4	2768.5	87.96	-8.90	218	1308.04	0.00	0.00	2.76	0.000	0.000	0.133	3549.97	3573.62	3526.31	1736.06	3911.62	0	0	0	30.00	30.00	15.83
1397.60	1028	-146.63	-1.21	0.00	3548.8	3572.4	3525.2	1735.8	3911.1	97.15	-9.48	237	1403.77	0.00	0.00	2.69	0.000	0.000	0.072	3550.56	3573.62	3527.50	1736.19	2725.25	0	0	0	30.00	30.00	15.86
1593.33	0	-146.63	-1.21	0.00	3549.1	3572.9	3525.2	1736.1	2725.4	114.69	-9.14	257	1594.67	0.00	0.00	0.00	0.000	0.000	0.000	3548.19	3571.94	3524.44	1735.56	2726.00	0	0	0	30.00	30.00	30.00
1653	end dive: TARGET_DEPTH_EXCEEDED
state	1653	begin apogee
1654.51	10243	0.00	-0.29	0.00	3548.9	3572.9	3524.9	1735.9	2574.2	120.05	-8.93	263	1765.64	107.68	1.49	0.08	1.327	0.150	0.244	2947.34	3012.50	2882.19	1960.12	2623.00	0	0	0	11.76	15.82	15.38
1770	end apogee: CONTROL_FINISHED_OK
state	1770	begin climb
1770.92	10759	146.63	1.21	-80.00	2948.0	3012.2	2883.8	1960.3	2623.2	122.42	0.00	274	1892.22	110.79	2.40	3.62	1.283	0.101	0.135	2348.69	2426.50	2270.88	2327.19	1189.75	0	0	0	11.49	15.40	15.19
1910.35	1028	146.63	1.21	0.00	2347.6	2424.6	2270.6	2327.1	1189.3	107.71	16.62	300	1915.20	0.00	0.00	3.32	0.000	0.000	0.065	2345.84	2422.88	2268.81	2327.75	2620.25	0	0	0	30.00	30.00	15.31
2100.35	260	146.63	1.21	80.00	2344.2	2419.9	2268.4	2327.7	2619.3	77.81	15.23	320	2105.16	0.00	0.00	3.18	0.000	0.000	0.135	2342.69	2417.88	2267.50	2327.38	3910.25	0	0	0	30.00	30.00	15.53
2160.37	17414	146.63	1.21	0.00	2342.8	2416.9	2268.6	2327.1	3910.6	68.28	15.91	332	2165.16	0.00	0.00	3.10	0.000	0.000	0.073	2342.34	2417.00	2267.69	2327.50	2579.44	0	0	0	30.00	30.00	15.60
2345.38	16902	146.63	1.21	-80.00	2342.6	2417.6	2267.5	2327.6	2579.4	42.05	13.75	357	2350.98	0.00	0.00	3.42	0.000	0.000	0.135	2343.19	2417.75	2268.62	2327.12	1186.62	0	0	0	30.00	30.00	15.65
2373.75	17414	146.63	1.21	0.00	2341.9	2414.8	2269.0	2327.2	1186.7	37.82	15.37	362	2378.55	0.00	0.00	3.26	0.000	0.000	0.066	2342.16	2414.31	2270.00	2327.31	2622.75	0	0	0	30.00	30.00	15.67
2563.04	16646	146.63	1.21	80.00	2341.4	2414.2	2268.5	2327.7	2622.8	13.18	12.14	400	2568.57	0.00	0.00	3.13	0.000	0.000	0.134	2340.41	2412.12	2268.69	2327.62	3910.25	0	0	0	30.00	30.00	15.69
2638.06	17414	146.63	1.21	0.00	2340.6	2413.9	2267.2	2327.6	3910.8	4.39	10.53	415	2643.56	0.00	0.00	3.06	0.000	0.000	0.071	2338.69	2411.38	2266.00	2327.62	2576.88	0	0	0	30.00	30.00	15.74
2708	end climb: SURFACE_DEPTH_REACHED
state	2708	begin surface coast
2758	end surface coast: CONTROL_FINISHED_OK
state	2758	begin surface