Glider dive log

HoodCanal 21May22.01 * 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 16 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 160 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 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 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 55 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 70 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 575 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 157.34293 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 16.496979 FG_AHR_24V 197.97766 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 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 160 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 157.34293 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 197.97766 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 16.496979 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 55

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 70

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 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 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 16 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 210522,203858,4736.019,-12257.185,2,1.1,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -49.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,204056,4736.013,-12257.187,2,1.1,5,15.5 MHEAD_RNG_PITCHd_Wd 12.7,2075,-17.1,-9.697,-20.82,2278,0.000

SPEED_LIMITS 0.168,0.255 D_GRID 165

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,1,20220521213100.058769,06,913,29,0209,0150,149,02,02,00,02,-1,-01,-01,1,3,10610,0,150,12.2,0.29,-100,2.71,-01,1.62,55,10000,5000,0,-1,00,00*69 INTERNAL_PRESSURE 7.9352

NET_PING 1653166211,25,1667.689575,10.500000,0.103350 _24V_AH 14.84,103.731

NAV 1653168015,140.5,0,stop _10V_AH 14.83,0.000

FREEZE 0.38,13.123,-1.490,0,1,0 FG_AHR_24Vo 198.164

FINISH 0.4,1.020456 FG_AHR_10Vo 157.386

SM_CCo 3750.31,305.71,1.117,0,541.9,614.7,469.1,590.71 MEM0 60148,1,0,0

SM_GC 1.66,305.71,12.75,0.41,1.117,0.057,0.096,541.9,614.7,469.1,211.6,2775.1,0,0,0,12.08,15.95,15.97 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 942976,28,103412,81

IRIDIUM_FIX 4736.87,-12256.21,210522,203612 DATA_FILE_SIZE 12935,508

TCM_TEMP 13.34 CAP_FILE_SIZE 364906,0

SC_FREEKB 3878368 SDSIZE 3918848,3885568

PM_FREEKB_00 62260864 SDFILEDIR 241,3

PM_ACTIVECARD 0 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 IMPLIED_C_PITCH 2002,16.13,251,2016.0,16.31

HUMID 48.49 IMPLIED_C_VBD 3116,31.762394,251,3032.9

TEMP 10.82 GPS 210522,214501,4736.344,-12256.837,1,1.1,18,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 640 1282 12191.64 nil 0 0 0.00

Pitch_motor 27 258 106.64 nil 0 0 0.00

Roll_motor 61 242 222.93 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 3.17 nil 0 0 0.00

Core 1942 5 147.46 SciCon 3394 7 354.80

Fast 0 0 0.00 PMAR 3406 17 891.27

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1536 0 7.29

Compass 1029 5 76.36

RAFOS 1270 40 753.56

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

10.85 16386 -146.63 -1.22 0.00 541.4 613.2 469.6 212.8 2725.9 0.00 0.00 0 135.48 119.43 0.00 0.00 0.005 0.000 0.000 3476.16 3482.44 3469.88 212.88 2725.94 0 0 0 15.17 30.00 30.00

135.79 18727 -146.63 -1.22 80.00 3475.5 3481.2 3469.7 212.9 2725.9 3.07 -1.03 23 160.93 1.87 11.23 2.74 0.015 0.258 0.118 3548.41 3568.69 3528.12 1734.69 3912.69 0 0 0 16.07 15.92 15.98

219.25 1028 -146.63 -1.22 0.00 3548.0 3570.1 3525.9 1734.4 3912.8 11.02 -7.80 39 225.46 0.00 0.00 2.65 0.000 0.000 0.061 3548.16 3571.19 3525.12 1734.94 2722.69 0 0 0 30.00 30.00 16.01

409.31 548 -146.63 -1.22 -80.00 3547.9 3572.1 3523.7 1734.6 2722.4 18.99 -3.58 77 415.81 0.00 0.00 3.38 0.000 0.000 0.118 3548.81 3573.62 3524.00 1735.38 1279.25 0 0 0 30.00 30.00 15.99

587.38 1060 -146.63 -1.22 0.00 3548.6 3573.6 3523.5 1734.9 1279.3 28.82 -5.61 112 593.81 0.00 0.00 3.30 0.000 0.000 0.060 3548.62 3573.00 3524.25 1734.81 2772.44 0 0 0 30.00 30.00 16.03

777.40 292 -146.63 -1.22 80.00 3547.7 3572.8 3522.7 1734.9 2772.8 38.66 -5.18 150 783.59 0.00 0.00 2.68 0.000 0.000 0.121 3547.38 3573.12 3521.62 1734.50 3910.50 0 0 0 30.00 30.00 16.01

872.42 1060 -146.63 -1.22 0.00 3546.8 3572.1 3521.5 1735.1 3910.2 44.72 -6.57 169 878.60 0.00 0.00 2.66 0.000 0.000 0.063 3547.09 3572.62 3521.56 1734.31 2723.25 0 0 0 30.00 30.00 16.04

1061.71 548 -146.63 -1.22 -80.00 3547.1 3572.5 3521.7 1734.7 2722.1 56.83 -6.61 196 1067.46 0.00 0.00 3.39 0.000 0.000 0.119 3548.56 3573.88 3523.25 1734.88 1279.25 0 0 0 30.00 30.00 16.01

1112.20 1028 -146.63 -1.22 0.00 3547.5 3572.9 3522.1 1734.9 1279.2 60.56 -8.27 205 1121.63 0.00 0.00 3.32 0.000 0.000 0.063 3548.31 3572.94 3523.69 1735.25 2770.50 0 0 0 30.00 30.00 16.02

1305.80 260 -146.63 -1.22 80.00 3547.0 3572.4 3521.6 1734.8 2770.5 75.64 -7.92 226 1311.33 0.00 0.00 2.70 0.000 0.000 0.125 3548.06 3573.06 3523.06 1735.12 3912.88 0 0 0 30.00 30.00 15.98

1390.10 1028 -146.63 -1.22 0.00 3546.4 3571.9 3520.9 1734.6 3912.9 83.26 -9.11 243 1397.07 0.00 0.00 2.68 0.000 0.000 0.067 3546.16 3571.25 3521.06 1735.38 2725.06 0 0 0 30.00 30.00 16.00

1585.83 516 -146.63 -1.22 -80.00 3546.2 3571.5 3520.9 1735.4 2725.8 99.13 -8.21 263 1591.68 0.00 0.00 3.41 0.000 0.000 0.124 3547.09 3572.38 3521.81 1735.50 1281.19 0 0 0 30.00 30.00 15.97

1630.11 1028 -146.63 -1.22 0.00 3546.5 3572.9 3520.1 1734.7 1280.7 103.36 -9.51 272 1637.37 0.00 0.00 3.32 0.000 0.000 0.066 3546.44 3572.44 3520.44 1735.62 2768.38 0 0 0 30.00 30.00 15.99

1825.85 260 -146.63 -1.22 80.00 3545.8 3572.6 3519.0 1735.1 2769.6 120.03 -8.51 292 1831.38 0.00 0.00 2.72 0.000 0.000 0.128 3544.25 3571.19 3517.31 1735.00 3912.06 0 0 0 30.00 30.00 15.96

1850.12 1028 -146.63 -1.22 0.00 3545.1 3572.4 3517.9 1735.5 3911.1 122.31 -8.76 297 1857.10 0.00 0.00 2.67 0.000 0.000 0.068 3544.94 3572.31 3517.56 1734.88 2723.50 0 0 0 30.00 30.00 15.99

2045.86 0 -146.63 -1.22 0.00 3545.1 3574.2 3516.0 1735.1 2723.5 139.52 -8.88 317 2047.39 0.00 0.00 0.00 0.000 0.000 0.000 3544.09 3570.75 3517.44 1735.12 2724.31 0 0 0 30.00 30.00 30.00

2106 end dive: HALF_MISSION_TIME_EXCEEDED

state 2106 begin apogee

2107.22 10243 0.00 -0.30 0.00 3544.6 3572.2 3516.9 1734.8 2573.6 144.93 -9.04 323 2221.24 104.51 1.47 0.08 1.282 0.142 0.243 2948.06 3013.62 2882.50 1958.75 2624.88 0 0 0 11.98 15.94 15.54

2227 end apogee: CONTROL_FINISHED_OK

state 2227 begin climb

2227.78 10759 146.63 1.22 -80.00 2947.2 3011.7 2882.6 1958.6 2624.5 147.36 0.00 334 2350.86 109.18 2.38 3.58 1.244 0.092 0.131 2347.81 2428.06 2267.56 2328.69 1187.88 0 0 0 11.82 15.56 15.34

2353.54 1028 146.63 1.22 0.00 2348.5 2427.8 2269.2 2328.4 1187.6 135.81 13.07 353 2360.70 0.00 0.00 3.32 0.000 0.000 0.061 2350.19 2427.81 2272.56 2327.94 2622.88 0 0 0 30.00 30.00 15.44

2549.19 260 146.63 1.22 80.00 2344.4 2421.7 2267.2 2329.4 2623.0 106.99 14.90 373 2554.87 0.00 0.00 3.15 0.000 0.000 0.131 2343.94 2420.19 2267.69 2328.44 3908.75 0 0 0 30.00 30.00 15.68

2589.18 17414 146.63 1.22 0.00 2343.0 2419.0 2267.0 2328.9 3908.8 100.59 16.20 381 2594.84 0.00 0.00 3.06 0.000 0.000 0.071 2341.75 2417.38 2266.12 2329.25 2576.88 0 0 0 30.00 30.00 15.73

2779.19 16386 146.63 1.22 0.00 2342.0 2417.7 2266.4 2328.9 2576.0 73.26 13.86 401 2780.71 0.00 0.00 0.00 0.000 0.000 0.000 2338.25 2414.06 2262.44 2328.94 2576.00 0 0 0 30.00 30.00 30.00

2962.18 16646 146.63 1.22 80.00 2341.6 2417.1 2266.0 2329.2 2575.9 47.74 14.04 420 2968.65 0.00 0.00 3.21 0.000 0.000 0.125 2342.09 2416.88 2267.31 2328.25 3912.00 0 0 0 30.00 30.00 15.83

3047.27 17414 146.63 1.22 0.00 2340.0 2414.6 2265.5 2328.8 3910.7 35.38 14.39 437 3053.64 0.00 0.00 3.04 0.000 0.000 0.071 2337.50 2411.62 2263.38 2328.62 2576.50 0 0 0 30.00 30.00 15.90

3237.27 16386 146.63 1.22 0.00 2338.7 2412.8 2264.6 2328.8 2577.4 12.26 11.02 475 3241.75 0.00 0.00 0.00 0.000 0.000 0.000 2336.94 2411.75 2262.12 2328.75 2576.31 0 0 0 30.00 30.00 30.00

3368 end climb: SURFACE_DEPTH_REACHED

state 3368 begin surface coast

3403 end surface coast: CONTROL_FINISHED_OK

state 3403 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	16	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	160	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	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	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	55	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	70	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	575	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	157.34293	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	16.496979	FG_AHR_24V	197.97766	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	210522,203858,4736.019,-12257.185,2,1.1,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,204056,4736.013,-12257.187,2,1.1,5,15.5	MHEAD_RNG_PITCHd_Wd	12.7,2075,-17.1,-9.697,-20.82,2278,0.000
SPEED_LIMITS	0.168,0.255	D_GRID	165
TGT_NAME	N	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	4737.000,-12256.400

NET	CACST,8,1,20220521213100.058769,06,913,29,0209,0150,149,02,02,00,02,-1,-01,-01,1,3,10610,0,150,12.2,0.29,-100,2.71,-01,1.62,55,10000,5000,0,-1,00,00*69	INTERNAL_PRESSURE	7.9352
NET_PING	1653166211,25,1667.689575,10.500000,0.103350	_24V_AH	14.84,103.731
NAV	1653168015,140.5,0,stop	_10V_AH	14.83,0.000
FREEZE	0.38,13.123,-1.490,0,1,0	FG_AHR_24Vo	198.164
FINISH	0.4,1.020456	FG_AHR_10Vo	157.386
SM_CCo	3750.31,305.71,1.117,0,541.9,614.7,469.1,590.71	MEM0	60148,1,0,0
SM_GC	1.66,305.71,12.75,0.41,1.117,0.057,0.096,541.9,614.7,469.1,211.6,2775.1,0,0,0,12.08,15.95,15.97	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	942976,28,103412,81
IRIDIUM_FIX	4736.87,-12256.21,210522,203612	DATA_FILE_SIZE	12935,508
TCM_TEMP	13.34	CAP_FILE_SIZE	364906,0
SC_FREEKB	3878368	SDSIZE	3918848,3885568
PM_FREEKB_00	62260864	SDFILEDIR	241,3
PM_ACTIVECARD	0	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	IMPLIED_C_PITCH	2002,16.13,251,2016.0,16.31
HUMID	48.49	IMPLIED_C_VBD	3116,31.762394,251,3032.9
TEMP	10.82	GPS	210522,214501,4736.344,-12256.837,1,1.1,18,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	640	1282	12191.64	nil	0	0	0.00
Pitch_motor	27	258	106.64	nil	0	0	0.00
Roll_motor	61	242	222.93	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	3.17	nil	0	0	0.00
Core	1942	5	147.46	SciCon	3394	7	354.80
Fast	0	0	0.00	PMAR	3406	17	891.27
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1536	0	7.29
Compass	1029	5	76.36
RAFOS	1270	40	753.56
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
10.85	16386	-146.63	-1.22	0.00	541.4	613.2	469.6	212.8	2725.9	0.00	0.00	0	135.48	119.43	0.00	0.00	0.005	0.000	0.000	3476.16	3482.44	3469.88	212.88	2725.94	0	0	0	15.17	30.00	30.00
135.79	18727	-146.63	-1.22	80.00	3475.5	3481.2	3469.7	212.9	2725.9	3.07	-1.03	23	160.93	1.87	11.23	2.74	0.015	0.258	0.118	3548.41	3568.69	3528.12	1734.69	3912.69	0	0	0	16.07	15.92	15.98
219.25	1028	-146.63	-1.22	0.00	3548.0	3570.1	3525.9	1734.4	3912.8	11.02	-7.80	39	225.46	0.00	0.00	2.65	0.000	0.000	0.061	3548.16	3571.19	3525.12	1734.94	2722.69	0	0	0	30.00	30.00	16.01
409.31	548	-146.63	-1.22	-80.00	3547.9	3572.1	3523.7	1734.6	2722.4	18.99	-3.58	77	415.81	0.00	0.00	3.38	0.000	0.000	0.118	3548.81	3573.62	3524.00	1735.38	1279.25	0	0	0	30.00	30.00	15.99
587.38	1060	-146.63	-1.22	0.00	3548.6	3573.6	3523.5	1734.9	1279.3	28.82	-5.61	112	593.81	0.00	0.00	3.30	0.000	0.000	0.060	3548.62	3573.00	3524.25	1734.81	2772.44	0	0	0	30.00	30.00	16.03
777.40	292	-146.63	-1.22	80.00	3547.7	3572.8	3522.7	1734.9	2772.8	38.66	-5.18	150	783.59	0.00	0.00	2.68	0.000	0.000	0.121	3547.38	3573.12	3521.62	1734.50	3910.50	0	0	0	30.00	30.00	16.01
872.42	1060	-146.63	-1.22	0.00	3546.8	3572.1	3521.5	1735.1	3910.2	44.72	-6.57	169	878.60	0.00	0.00	2.66	0.000	0.000	0.063	3547.09	3572.62	3521.56	1734.31	2723.25	0	0	0	30.00	30.00	16.04
1061.71	548	-146.63	-1.22	-80.00	3547.1	3572.5	3521.7	1734.7	2722.1	56.83	-6.61	196	1067.46	0.00	0.00	3.39	0.000	0.000	0.119	3548.56	3573.88	3523.25	1734.88	1279.25	0	0	0	30.00	30.00	16.01
1112.20	1028	-146.63	-1.22	0.00	3547.5	3572.9	3522.1	1734.9	1279.2	60.56	-8.27	205	1121.63	0.00	0.00	3.32	0.000	0.000	0.063	3548.31	3572.94	3523.69	1735.25	2770.50	0	0	0	30.00	30.00	16.02
1305.80	260	-146.63	-1.22	80.00	3547.0	3572.4	3521.6	1734.8	2770.5	75.64	-7.92	226	1311.33	0.00	0.00	2.70	0.000	0.000	0.125	3548.06	3573.06	3523.06	1735.12	3912.88	0	0	0	30.00	30.00	15.98
1390.10	1028	-146.63	-1.22	0.00	3546.4	3571.9	3520.9	1734.6	3912.9	83.26	-9.11	243	1397.07	0.00	0.00	2.68	0.000	0.000	0.067	3546.16	3571.25	3521.06	1735.38	2725.06	0	0	0	30.00	30.00	16.00
1585.83	516	-146.63	-1.22	-80.00	3546.2	3571.5	3520.9	1735.4	2725.8	99.13	-8.21	263	1591.68	0.00	0.00	3.41	0.000	0.000	0.124	3547.09	3572.38	3521.81	1735.50	1281.19	0	0	0	30.00	30.00	15.97
1630.11	1028	-146.63	-1.22	0.00	3546.5	3572.9	3520.1	1734.7	1280.7	103.36	-9.51	272	1637.37	0.00	0.00	3.32	0.000	0.000	0.066	3546.44	3572.44	3520.44	1735.62	2768.38	0	0	0	30.00	30.00	15.99
1825.85	260	-146.63	-1.22	80.00	3545.8	3572.6	3519.0	1735.1	2769.6	120.03	-8.51	292	1831.38	0.00	0.00	2.72	0.000	0.000	0.128	3544.25	3571.19	3517.31	1735.00	3912.06	0	0	0	30.00	30.00	15.96
1850.12	1028	-146.63	-1.22	0.00	3545.1	3572.4	3517.9	1735.5	3911.1	122.31	-8.76	297	1857.10	0.00	0.00	2.67	0.000	0.000	0.068	3544.94	3572.31	3517.56	1734.88	2723.50	0	0	0	30.00	30.00	15.99
2045.86	0	-146.63	-1.22	0.00	3545.1	3574.2	3516.0	1735.1	2723.5	139.52	-8.88	317	2047.39	0.00	0.00	0.00	0.000	0.000	0.000	3544.09	3570.75	3517.44	1735.12	2724.31	0	0	0	30.00	30.00	30.00
2106	end dive: HALF_MISSION_TIME_EXCEEDED
state	2106	begin apogee
2107.22	10243	0.00	-0.30	0.00	3544.6	3572.2	3516.9	1734.8	2573.6	144.93	-9.04	323	2221.24	104.51	1.47	0.08	1.282	0.142	0.243	2948.06	3013.62	2882.50	1958.75	2624.88	0	0	0	11.98	15.94	15.54
2227	end apogee: CONTROL_FINISHED_OK
state	2227	begin climb
2227.78	10759	146.63	1.22	-80.00	2947.2	3011.7	2882.6	1958.6	2624.5	147.36	0.00	334	2350.86	109.18	2.38	3.58	1.244	0.092	0.131	2347.81	2428.06	2267.56	2328.69	1187.88	0	0	0	11.82	15.56	15.34
2353.54	1028	146.63	1.22	0.00	2348.5	2427.8	2269.2	2328.4	1187.6	135.81	13.07	353	2360.70	0.00	0.00	3.32	0.000	0.000	0.061	2350.19	2427.81	2272.56	2327.94	2622.88	0	0	0	30.00	30.00	15.44
2549.19	260	146.63	1.22	80.00	2344.4	2421.7	2267.2	2329.4	2623.0	106.99	14.90	373	2554.87	0.00	0.00	3.15	0.000	0.000	0.131	2343.94	2420.19	2267.69	2328.44	3908.75	0	0	0	30.00	30.00	15.68
2589.18	17414	146.63	1.22	0.00	2343.0	2419.0	2267.0	2328.9	3908.8	100.59	16.20	381	2594.84	0.00	0.00	3.06	0.000	0.000	0.071	2341.75	2417.38	2266.12	2329.25	2576.88	0	0	0	30.00	30.00	15.73
2779.19	16386	146.63	1.22	0.00	2342.0	2417.7	2266.4	2328.9	2576.0	73.26	13.86	401	2780.71	0.00	0.00	0.00	0.000	0.000	0.000	2338.25	2414.06	2262.44	2328.94	2576.00	0	0	0	30.00	30.00	30.00
2962.18	16646	146.63	1.22	80.00	2341.6	2417.1	2266.0	2329.2	2575.9	47.74	14.04	420	2968.65	0.00	0.00	3.21	0.000	0.000	0.125	2342.09	2416.88	2267.31	2328.25	3912.00	0	0	0	30.00	30.00	15.83
3047.27	17414	146.63	1.22	0.00	2340.0	2414.6	2265.5	2328.8	3910.7	35.38	14.39	437	3053.64	0.00	0.00	3.04	0.000	0.000	0.071	2337.50	2411.62	2263.38	2328.62	2576.50	0	0	0	30.00	30.00	15.90
3237.27	16386	146.63	1.22	0.00	2338.7	2412.8	2264.6	2328.8	2577.4	12.26	11.02	475	3241.75	0.00	0.00	0.00	0.000	0.000	0.000	2336.94	2411.75	2262.12	2328.75	2576.31	0	0	0	30.00	30.00	30.00
3368	end climb: SURFACE_DEPTH_REACHED
state	3368	begin surface coast
3403	end surface coast: CONTROL_FINISHED_OK
state	3403	begin surface