Glider dive log

HoodCanal 23May22 * 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 18 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 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 170 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 50 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 5 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 158.11555 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.832659 FG_AHR_24V 201.19359 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 -158.7531 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 150 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 158.11555 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 201.19359 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.832659 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 50

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 -158.7531 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 5 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 18 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 170 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 230522,161510,4737.125,-12256.005,2,1.2,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,161703,4737.129,-12255.994,2,1.2,5,15.5 MHEAD_RNG_PITCHd_Wd 229.2,561,-25.2,-10.000,-28.12,1125,0.125

SPEED_LIMITS 0.173,0.258 D_GRID 162

TGT_NAME N IRON 1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,0,20220523163012.268275,06,13302,41,0095,0150,07,01,01,00,01,1,025,235,0,5,1,0,150,13.0,1.40,-100,1.60,-01,-0.23,49,10000,5000,0,-1,00,00*58 INTERNAL_PRESSURE 7.95104

NAV 1653325635,0.9,0,stop _24V_AH 14.83,106.776

NET_PING 1653323414,25,2355.322510,13.000000,-2.138430 _10V_AH 14.81,0.000

FREEZE 0.92,14.563,-1.443,0,1,0 FG_AHR_24Vo 201.379

FINISH 0.9,1.019532 FG_AHR_10Vo 158.150

SM_CCo 3249.82,227.05,1.102,0,541.2,608.8,473.6,590.87 MEM0 60148,1,0,0

SM_GC 1.58,227.05,14.48,3.59,1.102,0.092,0.061,541.2,608.8,473.6,215.2,2773.4,0,0,0,12.03,15.64,15.71 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 942772,25,103656,82

IRIDIUM_FIX 4738.33,-12256.21,230522,161234 DATA_FILE_SIZE 12927,454

TCM_TEMP 13.77 CAP_FILE_SIZE 333722,0

SC_FREEKB 3878368 SDSIZE 3918848,3885344

PM_FREEKB_00 62270592 SDFILEDIR 248,3

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 1431.8

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2015,15.73,179,2022.4,15.78

HUMID 48.94 IMPLIED_C_VBD 3144,30.409786,179,3046.9

TEMP 11.29 GPS 230522,171227,4737.044,-12256.347,1,1.5,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 642 1303 12424.72 nil 0 0 0.00

Pitch_motor 30 258 117.17 nil 0 0 0.00

Roll_motor 36 245 133.37 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 3.16 nil 0 0 0.00

Core 1819 5 137.98 SciCon 2973 6 277.61

Fast 0 0 0.00 PMAR 2988 17 781.23

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1228 0 5.82

Compass 935 5 69.25

RAFOS 861 40 510.39

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 10 begin dive

10.83 16386 -74.08 -1.68 0.00 541.4 606.8 476.1 216.4 2725.6 0.00 0.00 0 117.00 100.90 0.00 0.00 0.005 0.000 0.000 2948.31 2950.12 2946.50 216.44 2724.62 0 0 0 16.13 30.00 30.00

117.31 18727 -146.63 -1.77 80.00 2948.5 2949.9 2947.1 216.4 2725.1 3.19 -1.80 20 156.28 16.85 10.30 2.81 0.006 0.259 0.118 3546.12 3573.56 3518.69 1600.69 3913.19 0 0 0 15.76 15.97 16.03

364.66 1060 -146.63 -1.77 0.00 3547.3 3575.0 3519.7 1601.0 3913.1 11.62 -1.61 68 370.81 0.00 0.00 2.66 0.000 0.000 0.061 3548.03 3575.44 3520.62 1601.12 2720.19 0 0 0 30.00 30.00 16.07

554.67 32 -146.63 -1.77 0.00 3548.7 3576.9 3520.5 1600.7 2720.7 18.43 -3.57 106 559.14 0.00 0.00 0.00 0.000 0.000 0.000 3547.97 3576.00 3519.94 1600.88 2721.25 0 0 0 30.00 30.00 30.00

749.59 292 -146.63 -1.77 80.00 3549.1 3577.6 3520.6 1601.0 2720.3 28.77 -7.01 142 754.39 0.00 0.00 2.79 0.000 0.000 0.113 3547.75 3576.12 3519.38 1601.25 3913.81 0 0 0 30.00 30.00 16.02

853.80 1028 -146.63 -1.77 0.00 3549.1 3577.1 3521.1 1601.5 3914.8 37.86 -8.93 163 860.04 0.00 0.00 2.66 0.000 0.000 0.065 3548.69 3577.31 3520.06 1600.88 2723.38 0 0 0 30.00 30.00 16.04

1043.82 516 -146.63 -1.77 -80.00 3548.7 3576.8 3520.7 1600.8 2723.6 56.28 -10.46 195 1049.61 0.00 0.00 3.38 0.000 0.000 0.119 3549.84 3579.06 3520.62 1601.25 1279.62 0 0 0 30.00 30.00 16.01

1078.11 1028 -146.63 -1.77 0.00 3549.6 3577.5 3521.7 1601.2 1279.8 60.47 -12.18 202 1085.34 0.00 0.00 3.33 0.000 0.000 0.064 3497.06 3472.00 3522.12 1600.56 2769.81 0 0 0 30.00 30.00 16.05

1273.87 260 -146.63 -1.77 80.00 3549.0 3577.2 3520.8 1600.2 2770.0 83.18 -11.76 222 1279.31 0.00 0.00 2.69 0.000 0.000 0.121 3550.12 3578.44 3521.81 1601.25 3912.69 0 0 0 30.00 30.00 16.03

1349.55 1028 -146.63 -1.77 0.00 3548.4 3576.4 3520.3 1601.2 3913.7 92.28 -13.65 236 1359.27 0.00 0.00 2.67 0.000 0.000 0.068 3548.78 3577.06 3520.50 1601.25 2725.81 0 0 0 30.00 30.00 16.05

1548.14 0 -146.63 -1.77 0.00 3548.4 3576.2 3520.5 1600.8 2725.1 118.47 -12.60 257 1549.66 0.00 0.00 0.00 0.000 0.000 0.000 3547.69 3576.00 3519.38 1601.56 2726.00 0 0 0 30.00 30.00 30.00

1738.15 0 -146.63 -1.77 0.00 3548.6 3577.9 3519.4 1601.0 2725.3 142.50 -12.75 276 1739.68 0.00 0.00 0.00 0.000 0.000 0.000 3547.66 3576.75 3518.56 1601.00 2724.88 0 0 0 30.00 30.00 30.00

1798 end dive: TARGET_DEPTH_EXCEEDED

state 1798 begin apogee

1799.55 10243 0.00 -0.32 0.00 3548.0 3577.1 3518.8 1600.8 2573.8 150.48 -13.39 282 1914.14 106.42 2.34 0.08 1.303 0.163 0.246 2947.56 3013.81 2881.31 1954.44 2623.62 0 0 0 12.25 16.03 15.60

1921 end apogee: CONTROL_FINISHED_OK

state 1921 begin climb

1922.01 10243 146.63 1.77 0.00 2947.0 3012.2 2881.8 1953.6 2623.1 153.30 0.00 293 2041.03 108.64 3.22 0.00 1.270 0.089 0.000 2347.62 2425.94 2269.31 2465.56 2623.50 0 0 0 11.99 15.63 30.00

2224.34 16386 146.63 1.77 -80.00 2343.4 2417.7 2269.2 2465.4 2623.6 95.82 22.18 326 2225.87 0.00 0.00 0.00 0.000 0.000 0.000 2340.00 2413.19 2266.81 2464.81 2623.75 0 0 0 30.00 30.00 30.00

2414.35 16646 146.63 1.77 80.00 2341.1 2414.2 2268.0 2465.8 2623.8 55.44 20.39 345 2420.00 0.00 0.00 3.08 0.000 0.000 0.117 2342.06 2415.31 2268.81 2465.88 3911.25 0 0 0 30.00 30.00 15.79

2444.36 17414 146.63 1.77 0.00 2340.4 2412.7 2268.1 2465.4 3913.1 48.91 21.99 351 2450.74 0.00 0.00 3.06 0.000 0.000 0.069 2340.69 2412.62 2268.75 2465.50 2575.44 0 0 0 30.00 30.00 15.83

2632.55 16386 146.63 1.77 0.00 2339.7 2412.4 2266.9 2465.6 2575.8 10.89 18.46 386 2637.03 0.00 0.00 0.00 0.000 0.000 0.000 2337.06 2410.12 2264.00 2465.31 2575.81 0 0 0 30.00 30.00 30.00

2817.65 10791 262.94 1.91 -80.00 2338.9 2411.4 2266.4 2465.0 2576.0 5.07 -0.58 423 2912.99 83.00 0.17 3.41 1.125 0.102 0.133 1875.81 1961.75 1789.88 2500.62 1189.12 0 0 0 12.15 15.89 15.56

2931 end climb: SURFACE_DEPTH_REACHED

state 2931 begin surface coast

2977 end surface coast: CONTROL_FINISHED_OK

state 2977 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	18	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	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	170	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	50	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	5	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	158.11555	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.832659	FG_AHR_24V	201.19359	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	-158.7531	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	230522,161510,4737.125,-12256.005,2,1.2,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,161703,4737.129,-12255.994,2,1.2,5,15.5	MHEAD_RNG_PITCHd_Wd	229.2,561,-25.2,-10.000,-28.12,1125,0.125
SPEED_LIMITS	0.173,0.258	D_GRID	162
TGT_NAME	N	IRON	1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381
TGT_LATLONG	4737.000,-12256.400

NET	CACST,8,0,20220523163012.268275,06,13302,41,0095,0150,07,01,01,00,01,1,025,235,0,5,1,0,150,13.0,1.40,-100,1.60,-01,-0.23,49,10000,5000,0,-1,00,00*58	INTERNAL_PRESSURE	7.95104
NAV	1653325635,0.9,0,stop	_24V_AH	14.83,106.776
NET_PING	1653323414,25,2355.322510,13.000000,-2.138430	_10V_AH	14.81,0.000
FREEZE	0.92,14.563,-1.443,0,1,0	FG_AHR_24Vo	201.379
FINISH	0.9,1.019532	FG_AHR_10Vo	158.150
SM_CCo	3249.82,227.05,1.102,0,541.2,608.8,473.6,590.87	MEM0	60148,1,0,0
SM_GC	1.58,227.05,14.48,3.59,1.102,0.092,0.061,541.2,608.8,473.6,215.2,2773.4,0,0,0,12.03,15.64,15.71	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	942772,25,103656,82
IRIDIUM_FIX	4738.33,-12256.21,230522,161234	DATA_FILE_SIZE	12927,454
TCM_TEMP	13.77	CAP_FILE_SIZE	333722,0
SC_FREEKB	3878368	SDSIZE	3918848,3885344
PM_FREEKB_00	62270592	SDFILEDIR	248,3
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	1431.8
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2015,15.73,179,2022.4,15.78
HUMID	48.94	IMPLIED_C_VBD	3144,30.409786,179,3046.9
TEMP	11.29	GPS	230522,171227,4737.044,-12256.347,1,1.5,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	642	1303	12424.72	nil	0	0	0.00
Pitch_motor	30	258	117.17	nil	0	0	0.00
Roll_motor	36	245	133.37	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	3.16	nil	0	0	0.00
Core	1819	5	137.98	SciCon	2973	6	277.61
Fast	0	0	0.00	PMAR	2988	17	781.23
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1228	0	5.82
Compass	935	5	69.25
RAFOS	861	40	510.39
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	10	begin dive
10.83	16386	-74.08	-1.68	0.00	541.4	606.8	476.1	216.4	2725.6	0.00	0.00	0	117.00	100.90	0.00	0.00	0.005	0.000	0.000	2948.31	2950.12	2946.50	216.44	2724.62	0	0	0	16.13	30.00	30.00
117.31	18727	-146.63	-1.77	80.00	2948.5	2949.9	2947.1	216.4	2725.1	3.19	-1.80	20	156.28	16.85	10.30	2.81	0.006	0.259	0.118	3546.12	3573.56	3518.69	1600.69	3913.19	0	0	0	15.76	15.97	16.03
364.66	1060	-146.63	-1.77	0.00	3547.3	3575.0	3519.7	1601.0	3913.1	11.62	-1.61	68	370.81	0.00	0.00	2.66	0.000	0.000	0.061	3548.03	3575.44	3520.62	1601.12	2720.19	0	0	0	30.00	30.00	16.07
554.67	32	-146.63	-1.77	0.00	3548.7	3576.9	3520.5	1600.7	2720.7	18.43	-3.57	106	559.14	0.00	0.00	0.00	0.000	0.000	0.000	3547.97	3576.00	3519.94	1600.88	2721.25	0	0	0	30.00	30.00	30.00
749.59	292	-146.63	-1.77	80.00	3549.1	3577.6	3520.6	1601.0	2720.3	28.77	-7.01	142	754.39	0.00	0.00	2.79	0.000	0.000	0.113	3547.75	3576.12	3519.38	1601.25	3913.81	0	0	0	30.00	30.00	16.02
853.80	1028	-146.63	-1.77	0.00	3549.1	3577.1	3521.1	1601.5	3914.8	37.86	-8.93	163	860.04	0.00	0.00	2.66	0.000	0.000	0.065	3548.69	3577.31	3520.06	1600.88	2723.38	0	0	0	30.00	30.00	16.04
1043.82	516	-146.63	-1.77	-80.00	3548.7	3576.8	3520.7	1600.8	2723.6	56.28	-10.46	195	1049.61	0.00	0.00	3.38	0.000	0.000	0.119	3549.84	3579.06	3520.62	1601.25	1279.62	0	0	0	30.00	30.00	16.01
1078.11	1028	-146.63	-1.77	0.00	3549.6	3577.5	3521.7	1601.2	1279.8	60.47	-12.18	202	1085.34	0.00	0.00	3.33	0.000	0.000	0.064	3497.06	3472.00	3522.12	1600.56	2769.81	0	0	0	30.00	30.00	16.05
1273.87	260	-146.63	-1.77	80.00	3549.0	3577.2	3520.8	1600.2	2770.0	83.18	-11.76	222	1279.31	0.00	0.00	2.69	0.000	0.000	0.121	3550.12	3578.44	3521.81	1601.25	3912.69	0	0	0	30.00	30.00	16.03
1349.55	1028	-146.63	-1.77	0.00	3548.4	3576.4	3520.3	1601.2	3913.7	92.28	-13.65	236	1359.27	0.00	0.00	2.67	0.000	0.000	0.068	3548.78	3577.06	3520.50	1601.25	2725.81	0	0	0	30.00	30.00	16.05
1548.14	0	-146.63	-1.77	0.00	3548.4	3576.2	3520.5	1600.8	2725.1	118.47	-12.60	257	1549.66	0.00	0.00	0.00	0.000	0.000	0.000	3547.69	3576.00	3519.38	1601.56	2726.00	0	0	0	30.00	30.00	30.00
1738.15	0	-146.63	-1.77	0.00	3548.6	3577.9	3519.4	1601.0	2725.3	142.50	-12.75	276	1739.68	0.00	0.00	0.00	0.000	0.000	0.000	3547.66	3576.75	3518.56	1601.00	2724.88	0	0	0	30.00	30.00	30.00
1798	end dive: TARGET_DEPTH_EXCEEDED
state	1798	begin apogee
1799.55	10243	0.00	-0.32	0.00	3548.0	3577.1	3518.8	1600.8	2573.8	150.48	-13.39	282	1914.14	106.42	2.34	0.08	1.303	0.163	0.246	2947.56	3013.81	2881.31	1954.44	2623.62	0	0	0	12.25	16.03	15.60
1921	end apogee: CONTROL_FINISHED_OK
state	1921	begin climb
1922.01	10243	146.63	1.77	0.00	2947.0	3012.2	2881.8	1953.6	2623.1	153.30	0.00	293	2041.03	108.64	3.22	0.00	1.270	0.089	0.000	2347.62	2425.94	2269.31	2465.56	2623.50	0	0	0	11.99	15.63	30.00
2224.34	16386	146.63	1.77	-80.00	2343.4	2417.7	2269.2	2465.4	2623.6	95.82	22.18	326	2225.87	0.00	0.00	0.00	0.000	0.000	0.000	2340.00	2413.19	2266.81	2464.81	2623.75	0	0	0	30.00	30.00	30.00
2414.35	16646	146.63	1.77	80.00	2341.1	2414.2	2268.0	2465.8	2623.8	55.44	20.39	345	2420.00	0.00	0.00	3.08	0.000	0.000	0.117	2342.06	2415.31	2268.81	2465.88	3911.25	0	0	0	30.00	30.00	15.79
2444.36	17414	146.63	1.77	0.00	2340.4	2412.7	2268.1	2465.4	3913.1	48.91	21.99	351	2450.74	0.00	0.00	3.06	0.000	0.000	0.069	2340.69	2412.62	2268.75	2465.50	2575.44	0	0	0	30.00	30.00	15.83
2632.55	16386	146.63	1.77	0.00	2339.7	2412.4	2266.9	2465.6	2575.8	10.89	18.46	386	2637.03	0.00	0.00	0.00	0.000	0.000	0.000	2337.06	2410.12	2264.00	2465.31	2575.81	0	0	0	30.00	30.00	30.00
2817.65	10791	262.94	1.91	-80.00	2338.9	2411.4	2266.4	2465.0	2576.0	5.07	-0.58	423	2912.99	83.00	0.17	3.41	1.125	0.102	0.133	1875.81	1961.75	1789.88	2500.62	1189.12	0	0	0	12.15	15.89	15.56
2931	end climb: SURFACE_DEPTH_REACHED
state	2931	begin surface coast
2977	end surface coast: CONTROL_FINISHED_OK
state	2977	begin surface