Glider dive log

HoodCanal 24May22 * 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 19 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 7 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 175 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 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 55 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 75 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 158.60524 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.913372 FG_AHR_24V 203.15697 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 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 158.60524 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 203.15697 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.913372 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 7 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 75

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 1

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 19 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 175 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 240522,161244,4737.083,-12256.218,2,1.8,5,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,161505,4737.088,-12256.196,2,1.8,8,15.5 MHEAD_RNG_PITCHd_Wd 191.0,2251,-17.1,-9.697,-20.82,2278,0.146

SPEED_LIMITS 0.168,0.255 D_GRID 164

TGT_NAME S IRON 1.000000,-0.037022,-0.013530,-0.069686,1.110939,-0.022572,0.014801,-0.001459,1.216694,-970.713135,-1076.446655,-114.501228

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653412032,23.8,0,stop INTERNAL_PRESSURE 7.96719

MODEM_MSG CACST,8,0,20220524170001.211305,18,19030,36,0305,0000,216,00,00,01,00,1,025,121,0,5,1,0,150,4.1,4.49,-100,-1.49,-01,-0.08,67,925,0025,0,1,00,00*37 _24V_AH 14.86,108.772

FREEZE 1.75,14.710,-1.418,0,1,0 _10V_AH 14.82,0.000

FINISH 1.7,1.019137 FG_AHR_24Vo 203.344

SM_CCo 3959.14,215.67,1.113,0,541.4,606.9,475.9,590.83 FG_AHR_10Vo 158.647

SM_GC 1.48,215.67,13.47,0.41,1.113,0.078,0.088,541.4,606.9,475.9,217.7,2775.6,0,0,0,11.97,15.77,15.81 MEM0 60132,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4736.00,-12258.89,240522,161057 MEM2 942760,24,103688,82

TCM_TEMP 14.28 DATA_FILE_SIZE 16152,575

SC_FREEKB 3878368 CAP_FILE_SIZE 403684,0

PM_FREEKB_00 62253568 SDSIZE 3918848,3885120

PM_ACTIVECARD 0 SDFILEDIR 254,3

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 2,1653409816,47.61200,-122.96660,16.078,23553.9 SOUNDSPEED 1471.6

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2010,15.84,214,2020.2,15.88

HUMID 48.96 IMPLIED_C_VBD 3175,23.432442,214,3050.0

TEMP 11.47 GPS 240522,172247,4736.785,-12256.335,22,1.6,30,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 647 1275 12264.63 nil 0 0 0.00

Pitch_motor 29 262 113.72 nil 0 0 0.00

Roll_motor 36 233 128.13 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 17 15 3.86 nil 0 0 0.00

Core 2254 5 171.04 SciCon 3705 6 355.09

Fast 0 0 0.00 PMAR 3715 17 973.62

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1524 0 7.23

Compass 1187 5 87.98

RAFOS 858 40 509.18

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

11.23 16386 -146.63 -1.25 0.00 540.8 600.2 481.4 215.4 2720.6 0.00 0.00 0 117.21 100.69 0.00 0.00 0.005 0.000 0.000 2927.97 2929.12 2926.81 215.50 2720.50 0 0 0 16.07 30.00 30.00

117.52 18467 -146.63 -1.25 0.00 2927.7 2930.2 2925.2 215.2 2720.9 3.20 -1.84 20 157.07 18.85 11.45 0.00 0.006 0.262 0.000 3545.97 3572.81 3519.12 1726.12 2720.50 0 0 0 16.07 15.91 30.00

341.46 292 -146.63 -1.25 80.00 3548.8 3578.4 3519.3 1726.4 2720.1 8.82 -1.10 64 347.72 0.00 0.00 2.81 0.000 0.000 0.112 3548.47 3578.19 3518.75 1726.50 3914.38 0 0 0 30.00 30.00 16.00

476.47 1060 -146.63 -1.25 0.00 3547.8 3577.1 3518.6 1726.2 3913.4 10.43 -1.14 91 482.63 0.00 0.00 2.62 0.000 0.000 0.060 3550.06 3579.62 3520.50 1726.25 2719.75 0 0 0 30.00 30.00 16.04

666.51 32 -146.63 -1.25 0.00 3549.3 3579.4 3519.3 1726.6 2719.0 15.23 -3.17 129 670.97 0.00 0.00 0.00 0.000 0.000 0.000 3548.34 3577.75 3518.94 1726.19 2719.81 0 0 0 30.00 30.00 30.00

854.87 292 -146.63 -1.25 80.00 3549.4 3578.1 3520.6 1726.2 2719.5 23.68 -4.76 165 866.62 0.00 0.00 2.79 0.000 0.000 0.112 3549.22 3578.69 3519.75 1726.62 3914.31 0 0 0 30.00 30.00 16.01

974.96 1060 -146.63 -1.25 0.00 3548.5 3577.7 3519.3 1726.3 3912.9 30.04 -5.88 188 981.12 0.00 0.00 2.62 0.000 0.000 0.064 3549.09 3578.88 3519.31 1726.94 2720.06 0 0 0 30.00 30.00 16.02

1164.99 548 -146.63 -1.25 -80.00 3549.1 3578.5 3519.7 1725.9 2721.7 40.98 -6.29 226 1172.50 0.00 0.00 3.36 0.000 0.000 0.122 3550.00 3579.88 3520.12 1726.69 1280.44 0 0 0 30.00 30.00 15.98

1250.82 1028 -146.63 -1.25 0.00 3548.8 3578.9 3518.8 1727.2 1280.5 47.73 -7.98 243 1257.26 0.00 0.00 3.27 0.000 0.000 0.060 3549.97 3580.62 3519.31 1726.56 2773.62 0 0 0 30.00 30.00 16.03

1445.87 32 -146.63 -1.25 0.00 3549.4 3579.4 3519.4 1726.7 2773.2 61.62 -7.24 266 1447.39 0.00 0.00 0.00 0.000 0.000 0.000 3548.09 3577.62 3518.56 1725.88 2774.19 0 0 0 30.00 30.00 30.00

1628.88 32 -146.63 -1.25 0.00 3549.5 3578.9 3520.1 1726.1 2773.1 75.16 -7.38 285 1630.40 0.00 0.00 0.00 0.000 0.000 0.000 3548.88 3578.44 3519.31 1725.44 2773.56 0 0 0 30.00 30.00 30.00

1818.83 0 -146.63 -1.25 0.00 3549.3 3579.5 3519.1 1725.8 2772.8 89.44 -7.78 304 1820.35 0.00 0.00 0.00 0.000 0.000 0.000 3547.62 3577.56 3517.69 1725.88 2773.56 0 0 0 30.00 30.00 30.00

2008.83 0 -146.63 -1.25 0.00 3548.4 3579.6 3517.2 1726.4 2772.9 104.13 -7.72 323 2010.35 0.00 0.00 0.00 0.000 0.000 0.000 3548.44 3578.38 3518.50 1725.81 2773.38 0 0 0 30.00 30.00 30.00

2197.89 32 -146.63 -1.25 0.00 3547.7 3578.1 3517.2 1726.3 2772.7 118.66 -7.61 342 2199.41 0.00 0.00 0.00 0.000 0.000 0.000 3546.78 3578.00 3515.56 1726.56 2772.94 0 0 0 30.00 30.00 30.00

2258 end dive: HALF_MISSION_TIME_EXCEEDED

state 2258 begin apogee

2259.30 10243 0.00 -0.31 0.00 3548.0 3579.3 3516.7 1725.8 2570.8 123.19 -7.58 348 2373.33 105.76 1.52 0.08 1.275 0.138 0.234 2949.44 3018.69 2880.19 1955.94 2626.12 0 0 0 12.10 16.03 15.60

2376 end apogee: CONTROL_FINISHED_OK

state 2376 begin climb

2376.92 10243 146.63 1.25 0.00 2946.9 3014.1 2879.8 1956.8 2626.6 124.57 0.00 359 2497.01 110.11 2.51 0.00 1.220 0.091 0.000 2350.22 2435.38 2265.06 2338.31 2626.50 0 0 0 12.02 15.62 30.00

2684.80 16646 146.63 1.25 80.00 2342.8 2421.9 2263.7 2338.8 2626.9 82.27 15.13 390 2690.51 0.00 0.00 3.09 0.000 0.000 0.119 2341.47 2420.31 2262.62 2338.19 3911.06 0 0 0 30.00 30.00 15.64

2729.14 17414 146.63 1.25 0.00 2341.5 2419.6 2263.3 2339.2 3911.1 75.19 15.82 399 2736.25 0.00 0.00 3.02 0.000 0.000 0.068 2341.22 2421.12 2261.31 2337.69 2577.19 0 0 0 30.00 30.00 15.71

2919.88 16646 146.63 1.25 80.00 2340.7 2418.4 2262.9 2337.3 2576.7 47.12 14.35 420 2926.29 0.00 0.00 3.18 0.000 0.000 0.118 2342.53 2421.81 2263.25 2338.88 3912.75 0 0 0 30.00 30.00 15.76

2944.88 17414 146.63 1.25 0.00 2340.0 2417.5 2262.6 2338.3 3912.6 43.33 15.18 425 2951.25 0.00 0.00 3.01 0.000 0.000 0.068 2341.69 2417.94 2265.44 2339.12 2576.94 0 0 0 30.00 30.00 15.80

3134.90 16646 146.63 1.25 80.00 2339.9 2417.0 2262.8 2338.5 2576.8 17.74 13.44 463 3141.32 0.00 0.00 3.18 0.000 0.000 0.119 2339.25 2416.25 2262.25 2337.94 3911.50 0 0 0 30.00 30.00 15.82

3334.58 11303 278.85 1.42 0.00 2337.5 2413.8 2261.2 2339.5 3912.2 2.80 3.76 502 3440.99 96.07 0.21 3.00 1.116 0.084 0.067 1813.50 1907.19 1719.81 2385.12 2574.38 0 0 0 12.04 15.91 15.91

3450 end climb: SURFACE_DEPTH_REACHED

state 3450 begin surface coast

3705 end surface coast: CONTROL_FINISHED_OK

state 3705 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	19	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	7	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	175	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	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	55	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	75	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	158.60524	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.913372	FG_AHR_24V	203.15697	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	240522,161244,4737.083,-12256.218,2,1.8,5,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,161505,4737.088,-12256.196,2,1.8,8,15.5	MHEAD_RNG_PITCHd_Wd	191.0,2251,-17.1,-9.697,-20.82,2278,0.146
SPEED_LIMITS	0.168,0.255	D_GRID	164
TGT_NAME	S	IRON	1.000000,-0.037022,-0.013530,-0.069686,1.110939,-0.022572,0.014801,-0.001459,1.216694,-970.713135,-1076.446655,-114.501228
TGT_LATLONG	4736.000,-12257.000

NAV	1653412032,23.8,0,stop	INTERNAL_PRESSURE	7.96719
MODEM_MSG	CACST,8,0,20220524170001.211305,18,19030,36,0305,0000,216,00,00,01,00,1,025,121,0,5,1,0,150,4.1,4.49,-100,-1.49,-01,-0.08,67,925,0025,0,1,00,00*37	_24V_AH	14.86,108.772
FREEZE	1.75,14.710,-1.418,0,1,0	_10V_AH	14.82,0.000
FINISH	1.7,1.019137	FG_AHR_24Vo	203.344
SM_CCo	3959.14,215.67,1.113,0,541.4,606.9,475.9,590.83	FG_AHR_10Vo	158.647
SM_GC	1.48,215.67,13.47,0.41,1.113,0.078,0.088,541.4,606.9,475.9,217.7,2775.6,0,0,0,11.97,15.77,15.81	MEM0	60132,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4736.00,-12258.89,240522,161057	MEM2	942760,24,103688,82
TCM_TEMP	14.28	DATA_FILE_SIZE	16152,575
SC_FREEKB	3878368	CAP_FILE_SIZE	403684,0
PM_FREEKB_00	62253568	SDSIZE	3918848,3885120
PM_ACTIVECARD	0	SDFILEDIR	254,3
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	2,1653409816,47.61200,-122.96660,16.078,23553.9	SOUNDSPEED	1471.6
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2010,15.84,214,2020.2,15.88
HUMID	48.96	IMPLIED_C_VBD	3175,23.432442,214,3050.0
TEMP	11.47	GPS	240522,172247,4736.785,-12256.335,22,1.6,30,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	647	1275	12264.63	nil	0	0	0.00
Pitch_motor	29	262	113.72	nil	0	0	0.00
Roll_motor	36	233	128.13	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	17	15	3.86	nil	0	0	0.00
Core	2254	5	171.04	SciCon	3705	6	355.09
Fast	0	0	0.00	PMAR	3715	17	973.62
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1524	0	7.23
Compass	1187	5	87.98
RAFOS	858	40	509.18
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
11.23	16386	-146.63	-1.25	0.00	540.8	600.2	481.4	215.4	2720.6	0.00	0.00	0	117.21	100.69	0.00	0.00	0.005	0.000	0.000	2927.97	2929.12	2926.81	215.50	2720.50	0	0	0	16.07	30.00	30.00
117.52	18467	-146.63	-1.25	0.00	2927.7	2930.2	2925.2	215.2	2720.9	3.20	-1.84	20	157.07	18.85	11.45	0.00	0.006	0.262	0.000	3545.97	3572.81	3519.12	1726.12	2720.50	0	0	0	16.07	15.91	30.00
341.46	292	-146.63	-1.25	80.00	3548.8	3578.4	3519.3	1726.4	2720.1	8.82	-1.10	64	347.72	0.00	0.00	2.81	0.000	0.000	0.112	3548.47	3578.19	3518.75	1726.50	3914.38	0	0	0	30.00	30.00	16.00
476.47	1060	-146.63	-1.25	0.00	3547.8	3577.1	3518.6	1726.2	3913.4	10.43	-1.14	91	482.63	0.00	0.00	2.62	0.000	0.000	0.060	3550.06	3579.62	3520.50	1726.25	2719.75	0	0	0	30.00	30.00	16.04
666.51	32	-146.63	-1.25	0.00	3549.3	3579.4	3519.3	1726.6	2719.0	15.23	-3.17	129	670.97	0.00	0.00	0.00	0.000	0.000	0.000	3548.34	3577.75	3518.94	1726.19	2719.81	0	0	0	30.00	30.00	30.00
854.87	292	-146.63	-1.25	80.00	3549.4	3578.1	3520.6	1726.2	2719.5	23.68	-4.76	165	866.62	0.00	0.00	2.79	0.000	0.000	0.112	3549.22	3578.69	3519.75	1726.62	3914.31	0	0	0	30.00	30.00	16.01
974.96	1060	-146.63	-1.25	0.00	3548.5	3577.7	3519.3	1726.3	3912.9	30.04	-5.88	188	981.12	0.00	0.00	2.62	0.000	0.000	0.064	3549.09	3578.88	3519.31	1726.94	2720.06	0	0	0	30.00	30.00	16.02
1164.99	548	-146.63	-1.25	-80.00	3549.1	3578.5	3519.7	1725.9	2721.7	40.98	-6.29	226	1172.50	0.00	0.00	3.36	0.000	0.000	0.122	3550.00	3579.88	3520.12	1726.69	1280.44	0	0	0	30.00	30.00	15.98
1250.82	1028	-146.63	-1.25	0.00	3548.8	3578.9	3518.8	1727.2	1280.5	47.73	-7.98	243	1257.26	0.00	0.00	3.27	0.000	0.000	0.060	3549.97	3580.62	3519.31	1726.56	2773.62	0	0	0	30.00	30.00	16.03
1445.87	32	-146.63	-1.25	0.00	3549.4	3579.4	3519.4	1726.7	2773.2	61.62	-7.24	266	1447.39	0.00	0.00	0.00	0.000	0.000	0.000	3548.09	3577.62	3518.56	1725.88	2774.19	0	0	0	30.00	30.00	30.00
1628.88	32	-146.63	-1.25	0.00	3549.5	3578.9	3520.1	1726.1	2773.1	75.16	-7.38	285	1630.40	0.00	0.00	0.00	0.000	0.000	0.000	3548.88	3578.44	3519.31	1725.44	2773.56	0	0	0	30.00	30.00	30.00
1818.83	0	-146.63	-1.25	0.00	3549.3	3579.5	3519.1	1725.8	2772.8	89.44	-7.78	304	1820.35	0.00	0.00	0.00	0.000	0.000	0.000	3547.62	3577.56	3517.69	1725.88	2773.56	0	0	0	30.00	30.00	30.00
2008.83	0	-146.63	-1.25	0.00	3548.4	3579.6	3517.2	1726.4	2772.9	104.13	-7.72	323	2010.35	0.00	0.00	0.00	0.000	0.000	0.000	3548.44	3578.38	3518.50	1725.81	2773.38	0	0	0	30.00	30.00	30.00
2197.89	32	-146.63	-1.25	0.00	3547.7	3578.1	3517.2	1726.3	2772.7	118.66	-7.61	342	2199.41	0.00	0.00	0.00	0.000	0.000	0.000	3546.78	3578.00	3515.56	1726.56	2772.94	0	0	0	30.00	30.00	30.00
2258	end dive: HALF_MISSION_TIME_EXCEEDED
state	2258	begin apogee
2259.30	10243	0.00	-0.31	0.00	3548.0	3579.3	3516.7	1725.8	2570.8	123.19	-7.58	348	2373.33	105.76	1.52	0.08	1.275	0.138	0.234	2949.44	3018.69	2880.19	1955.94	2626.12	0	0	0	12.10	16.03	15.60
2376	end apogee: CONTROL_FINISHED_OK
state	2376	begin climb
2376.92	10243	146.63	1.25	0.00	2946.9	3014.1	2879.8	1956.8	2626.6	124.57	0.00	359	2497.01	110.11	2.51	0.00	1.220	0.091	0.000	2350.22	2435.38	2265.06	2338.31	2626.50	0	0	0	12.02	15.62	30.00
2684.80	16646	146.63	1.25	80.00	2342.8	2421.9	2263.7	2338.8	2626.9	82.27	15.13	390	2690.51	0.00	0.00	3.09	0.000	0.000	0.119	2341.47	2420.31	2262.62	2338.19	3911.06	0	0	0	30.00	30.00	15.64
2729.14	17414	146.63	1.25	0.00	2341.5	2419.6	2263.3	2339.2	3911.1	75.19	15.82	399	2736.25	0.00	0.00	3.02	0.000	0.000	0.068	2341.22	2421.12	2261.31	2337.69	2577.19	0	0	0	30.00	30.00	15.71
2919.88	16646	146.63	1.25	80.00	2340.7	2418.4	2262.9	2337.3	2576.7	47.12	14.35	420	2926.29	0.00	0.00	3.18	0.000	0.000	0.118	2342.53	2421.81	2263.25	2338.88	3912.75	0	0	0	30.00	30.00	15.76
2944.88	17414	146.63	1.25	0.00	2340.0	2417.5	2262.6	2338.3	3912.6	43.33	15.18	425	2951.25	0.00	0.00	3.01	0.000	0.000	0.068	2341.69	2417.94	2265.44	2339.12	2576.94	0	0	0	30.00	30.00	15.80
3134.90	16646	146.63	1.25	80.00	2339.9	2417.0	2262.8	2338.5	2576.8	17.74	13.44	463	3141.32	0.00	0.00	3.18	0.000	0.000	0.119	2339.25	2416.25	2262.25	2337.94	3911.50	0	0	0	30.00	30.00	15.82
3334.58	11303	278.85	1.42	0.00	2337.5	2413.8	2261.2	2339.5	3912.2	2.80	3.76	502	3440.99	96.07	0.21	3.00	1.116	0.084	0.067	1813.50	1907.19	1719.81	2385.12	2574.38	0	0	0	12.04	15.91	15.91
3450	end climb: SURFACE_DEPTH_REACHED
state	3450	begin surface coast
3705	end surface coast: CONTROL_FINISHED_OK
state	3705	begin surface