Glider dive log

HoodCanal 22May22 * SG235 * Dive index * Mission links * Dive 10 * 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 17 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 10 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 10 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 157.91815 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.721455 FG_AHR_24V 200.77737 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 -158.84331 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 157.91815 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 200.77737 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.721455 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 -158.84331 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 17 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 10 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 10 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 230522,001636,4736.448,-12256.637,1,0.9,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,001943,4736.438,-12256.645,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 0.8,1083,-17.6,-10.000,-21.21,2209,0.854

SPEED_LIMITS 0.173,0.258 D_GRID 167

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,8,1,20220523011019.273593,06,5050,37,0101,0150,29,01,01,00,01,-1,-01,-01,2,3,6,0,150,16.0,-7.41,-100,10.41,-01,-0.43,51,10000,5000,0,-1,00,00*5F INTERNAL_PRESSURE 7.91087

NET_PING 1653267619,25,1899.776978,22.299999,-1.526101 _24V_AH 14.79,106.450

NAV 1653268211,18.3,0,stop _10V_AH 14.79,0.000

FREEZE 1.50,13.258,-1.490,0,1,0 FG_AHR_24Vo 200.964

FINISH 1.5,1.020425 FG_AHR_10Vo 157.956

SM_CCo 3582.70,308.48,1.113,0,541.6,614.4,468.7,590.79 MEM0 60148,1,0,0

SM_GC 1.49,308.48,13.20,0.41,1.113,0.084,0.093,541.6,614.4,468.7,214.1,2774.2,0,0,0,12.10,15.86,15.89 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 943012,29,103396,79

IRIDIUM_FIX 4736.87,-12256.21,230522,001404 DATA_FILE_SIZE 12932,479

TCM_TEMP 12.96 CAP_FILE_SIZE 377528,0

SC_FREEKB 3876832 SDSIZE 3918848,3883104

PM_FREEKB_00 61849472 SDFILEDIR 306,3

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 2007,15.94,254,2018.3,15.83

HUMID 48.55 IMPLIED_C_VBD 3136,30.287834,254,3042.8

TEMP 10.31 GPS 230522,012048,4736.692,-12256.506,1,1.4,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 644 1306 12459.08 nil 0 0 0.00

Pitch_motor 28 267 113.86 nil 0 0 0.00

Roll_motor 56 256 212.97 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 13 15 2.98 nil 0 0 0.00

Core 1920 5 145.45 SciCon 3225 6 309.42

Fast 0 0 0.00 PMAR 3240 17 845.16

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1384 0 6.55

Compass 967 5 71.53

RAFOS 669 40 395.95

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

11.28 16386 -146.63 -1.30 0.00 499.2 568.9 429.6 215.1 2724.2 0.00 0.00 0 126.94 109.96 0.00 0.00 0.005 0.000 0.000 3112.38 3113.06 3111.69 215.31 2723.69 0 0 0 15.14 30.00 30.00

127.24 18727 -146.63 -1.30 80.00 3112.1 3113.0 3111.2 215.1 2723.7 3.01 -1.49 21 163.09 11.86 11.43 2.86 0.007 0.267 0.128 3546.41 3574.19 3518.62 1714.38 3911.06 0 0 0 16.02 15.86 15.92

191.48 1028 -146.63 -1.30 0.00 3546.4 3574.6 3518.2 1714.2 3912.2 10.34 -9.78 33 197.87 0.00 0.00 2.70 0.000 0.000 0.068 3547.66 3576.06 3519.25 1714.44 2723.56 0 0 0 30.00 30.00 15.96

381.59 548 -146.63 -1.30 -80.00 3550.0 3578.6 3521.4 1713.9 2723.6 23.84 -5.78 71 388.28 0.00 0.00 3.44 0.000 0.000 0.123 3548.28 3577.88 3518.69 1714.38 1281.44 0 0 0 30.00 30.00 15.94

451.75 1060 -146.63 -1.30 0.00 3550.0 3579.8 3520.2 1713.8 1281.3 28.63 -7.06 85 458.33 0.00 0.00 3.36 0.000 0.000 0.064 3548.38 3578.00 3518.75 1714.00 2770.56 0 0 0 30.00 30.00 15.98

639.24 292 -146.63 -1.30 80.00 3549.8 3579.4 3520.2 1714.7 2770.9 39.56 -5.91 122 645.59 0.00 0.00 2.72 0.000 0.000 0.124 3550.31 3579.31 3521.31 1713.81 3913.25 0 0 0 30.00 30.00 15.95

679.26 1060 -146.63 -1.30 0.00 3549.3 3578.8 3519.8 1714.2 3911.9 42.23 -6.44 130 685.53 0.00 0.00 2.70 0.000 0.000 0.065 3549.47 3579.38 3519.56 1714.44 2722.94 0 0 0 30.00 30.00 15.99

874.30 548 -146.63 -1.30 -80.00 3550.5 3580.1 3520.9 1714.2 2723.6 55.55 -6.97 161 880.26 0.00 0.00 3.46 0.000 0.000 0.123 3551.66 3580.62 3522.69 1714.19 1280.00 0 0 0 30.00 30.00 15.97

914.27 1028 -146.63 -1.30 0.00 3550.3 3579.2 3521.4 1714.2 1279.6 58.95 -8.50 169 920.23 0.00 0.00 3.36 0.000 0.000 0.065 3549.88 3578.94 3520.81 1714.06 2769.31 0 0 0 30.00 30.00 16.00

1104.34 292 -146.63 -1.30 80.00 3550.8 3579.8 3521.9 1714.4 2768.9 73.77 -7.94 189 1109.97 0.00 0.00 2.73 0.000 0.000 0.126 3550.44 3579.75 3521.12 1714.44 3910.75 0 0 0 30.00 30.00 15.98

1184.14 1028 -146.63 -1.30 0.00 3549.6 3579.0 3520.2 1714.6 3912.6 80.67 -9.39 204 1189.18 0.00 0.00 2.71 0.000 0.000 0.068 3551.16 3580.19 3522.12 1714.31 2725.25 0 0 0 30.00 30.00 15.96

1377.84 0 -146.63 -1.30 0.00 3550.0 3579.7 3520.4 1714.0 2725.2 97.99 -8.67 224 1379.40 0.00 0.00 0.00 0.000 0.000 0.000 3548.12 3576.31 3519.94 1714.56 2725.81 0 0 0 30.00 30.00 30.00

1567.88 260 -146.63 -1.30 80.00 3549.1 3579.6 3518.5 1714.1 2725.3 115.06 -9.14 243 1573.58 0.00 0.00 2.85 0.000 0.000 0.125 3548.34 3578.06 3518.62 1714.19 3912.38 0 0 0 30.00 30.00 15.99

1617.89 1028 -146.63 -1.30 0.00 3549.9 3579.2 3520.6 1714.5 3912.8 120.21 -10.54 253 1623.53 0.00 0.00 2.70 0.000 0.000 0.070 3550.38 3579.56 3521.19 1713.62 2726.06 0 0 0 30.00 30.00 16.03

1805.84 0 -146.63 -1.30 0.00 3549.1 3578.0 3520.2 1714.1 2726.5 137.54 -8.98 273 1815.75 0.00 0.00 0.00 0.000 0.000 0.000 3549.38 3578.81 3519.94 1714.12 2725.75 0 0 0 30.00 30.00 30.00

1945 end dive: TARGET_DEPTH_EXCEEDED

state 1945 begin apogee

1947.48 10243 0.00 -0.32 0.00 3549.2 3578.4 3519.9 1714.1 2575.9 150.32 -9.24 287 2062.17 105.64 1.61 0.07 1.306 0.144 0.257 2948.84 3014.44 2883.25 1955.12 2623.38 0 0 0 12.21 15.99 15.56

2069 end apogee: CONTROL_FINISHED_OK

state 2069 begin climb

2069.76 10759 146.63 1.30 -80.00 2946.9 3012.2 2881.6 1955.5 2623.2 152.46 0.00 298 2196.68 108.99 2.60 3.62 1.260 0.095 0.133 2349.78 2431.62 2267.94 2348.56 1188.19 0 0 0 11.94 15.59 15.33

2214.36 1028 146.63 1.30 0.00 2346.8 2425.5 2268.1 2349.5 1188.4 136.17 17.25 325 2221.78 0.00 0.00 3.33 0.000 0.000 0.062 2346.22 2423.69 2268.75 2349.38 2621.94 0 0 0 30.00 30.00 15.46

2402.59 16646 146.63 1.30 80.00 2343.5 2420.8 2266.2 2347.6 2621.7 105.93 15.47 344 2408.44 0.00 0.00 3.18 0.000 0.000 0.130 2342.91 2418.81 2267.00 2349.06 3909.75 0 0 0 30.00 30.00 15.60

2436.94 17414 146.63 1.30 0.00 2343.1 2419.6 2266.6 2348.7 3909.6 100.22 16.57 351 2444.20 0.00 0.00 3.10 0.000 0.000 0.071 2343.62 2419.94 2267.31 2349.06 2579.19 0 0 0 30.00 30.00 15.66

2632.71 16646 146.63 1.30 80.00 2342.2 2418.2 2266.3 2348.7 2578.8 70.24 15.44 371 2638.59 0.00 0.00 3.26 0.000 0.000 0.124 2341.34 2417.94 2264.75 2348.56 3910.75 0 0 0 30.00 30.00 15.71

2662.70 17414 146.63 1.30 0.00 2341.0 2416.7 2265.2 2347.9 3910.5 65.34 16.53 377 2668.56 0.00 0.00 3.11 0.000 0.000 0.071 2340.97 2415.56 2266.38 2348.56 2577.38 0 0 0 30.00 30.00 15.76

2852.75 16386 146.63 1.30 0.00 2341.0 2416.6 2265.4 2348.7 2578.0 36.55 15.01 405 2857.29 0.00 0.00 0.00 0.000 0.000 0.000 2339.00 2415.25 2262.75 2348.44 2578.25 0 0 0 30.00 30.00 30.00

3042.52 16386 146.63 1.30 0.00 2339.9 2416.5 2263.3 2347.8 2577.5 11.58 11.88 442 3047.06 0.00 0.00 0.00 0.000 0.000 0.000 2338.56 2414.75 2262.38 2349.25 2576.75 0 0 0 30.00 30.00 30.00

3182 end climb: SURFACE_DEPTH_REACHED

state 3182 begin surface coast

3227 end surface coast: CONTROL_FINISHED_OK

state 3227 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	17	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	10	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	10	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	157.91815	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.721455	FG_AHR_24V	200.77737	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	-158.84331	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	230522,001636,4736.448,-12256.637,1,0.9,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,001943,4736.438,-12256.645,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	0.8,1083,-17.6,-10.000,-21.21,2209,0.854
SPEED_LIMITS	0.173,0.258	D_GRID	167
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,8,1,20220523011019.273593,06,5050,37,0101,0150,29,01,01,00,01,-1,-01,-01,2,3,6,0,150,16.0,-7.41,-100,10.41,-01,-0.43,51,10000,5000,0,-1,00,00*5F	INTERNAL_PRESSURE	7.91087
NET_PING	1653267619,25,1899.776978,22.299999,-1.526101	_24V_AH	14.79,106.450
NAV	1653268211,18.3,0,stop	_10V_AH	14.79,0.000
FREEZE	1.50,13.258,-1.490,0,1,0	FG_AHR_24Vo	200.964
FINISH	1.5,1.020425	FG_AHR_10Vo	157.956
SM_CCo	3582.70,308.48,1.113,0,541.6,614.4,468.7,590.79	MEM0	60148,1,0,0
SM_GC	1.49,308.48,13.20,0.41,1.113,0.084,0.093,541.6,614.4,468.7,214.1,2774.2,0,0,0,12.10,15.86,15.89	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	943012,29,103396,79
IRIDIUM_FIX	4736.87,-12256.21,230522,001404	DATA_FILE_SIZE	12932,479
TCM_TEMP	12.96	CAP_FILE_SIZE	377528,0
SC_FREEKB	3876832	SDSIZE	3918848,3883104
PM_FREEKB_00	61849472	SDFILEDIR	306,3
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	2007,15.94,254,2018.3,15.83
HUMID	48.55	IMPLIED_C_VBD	3136,30.287834,254,3042.8
TEMP	10.31	GPS	230522,012048,4736.692,-12256.506,1,1.4,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	644	1306	12459.08	nil	0	0	0.00
Pitch_motor	28	267	113.86	nil	0	0	0.00
Roll_motor	56	256	212.97	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	13	15	2.98	nil	0	0	0.00
Core	1920	5	145.45	SciCon	3225	6	309.42
Fast	0	0	0.00	PMAR	3240	17	845.16
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1384	0	6.55
Compass	967	5	71.53
RAFOS	669	40	395.95
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
11.28	16386	-146.63	-1.30	0.00	499.2	568.9	429.6	215.1	2724.2	0.00	0.00	0	126.94	109.96	0.00	0.00	0.005	0.000	0.000	3112.38	3113.06	3111.69	215.31	2723.69	0	0	0	15.14	30.00	30.00
127.24	18727	-146.63	-1.30	80.00	3112.1	3113.0	3111.2	215.1	2723.7	3.01	-1.49	21	163.09	11.86	11.43	2.86	0.007	0.267	0.128	3546.41	3574.19	3518.62	1714.38	3911.06	0	0	0	16.02	15.86	15.92
191.48	1028	-146.63	-1.30	0.00	3546.4	3574.6	3518.2	1714.2	3912.2	10.34	-9.78	33	197.87	0.00	0.00	2.70	0.000	0.000	0.068	3547.66	3576.06	3519.25	1714.44	2723.56	0	0	0	30.00	30.00	15.96
381.59	548	-146.63	-1.30	-80.00	3550.0	3578.6	3521.4	1713.9	2723.6	23.84	-5.78	71	388.28	0.00	0.00	3.44	0.000	0.000	0.123	3548.28	3577.88	3518.69	1714.38	1281.44	0	0	0	30.00	30.00	15.94
451.75	1060	-146.63	-1.30	0.00	3550.0	3579.8	3520.2	1713.8	1281.3	28.63	-7.06	85	458.33	0.00	0.00	3.36	0.000	0.000	0.064	3548.38	3578.00	3518.75	1714.00	2770.56	0	0	0	30.00	30.00	15.98
639.24	292	-146.63	-1.30	80.00	3549.8	3579.4	3520.2	1714.7	2770.9	39.56	-5.91	122	645.59	0.00	0.00	2.72	0.000	0.000	0.124	3550.31	3579.31	3521.31	1713.81	3913.25	0	0	0	30.00	30.00	15.95
679.26	1060	-146.63	-1.30	0.00	3549.3	3578.8	3519.8	1714.2	3911.9	42.23	-6.44	130	685.53	0.00	0.00	2.70	0.000	0.000	0.065	3549.47	3579.38	3519.56	1714.44	2722.94	0	0	0	30.00	30.00	15.99
874.30	548	-146.63	-1.30	-80.00	3550.5	3580.1	3520.9	1714.2	2723.6	55.55	-6.97	161	880.26	0.00	0.00	3.46	0.000	0.000	0.123	3551.66	3580.62	3522.69	1714.19	1280.00	0	0	0	30.00	30.00	15.97
914.27	1028	-146.63	-1.30	0.00	3550.3	3579.2	3521.4	1714.2	1279.6	58.95	-8.50	169	920.23	0.00	0.00	3.36	0.000	0.000	0.065	3549.88	3578.94	3520.81	1714.06	2769.31	0	0	0	30.00	30.00	16.00
1104.34	292	-146.63	-1.30	80.00	3550.8	3579.8	3521.9	1714.4	2768.9	73.77	-7.94	189	1109.97	0.00	0.00	2.73	0.000	0.000	0.126	3550.44	3579.75	3521.12	1714.44	3910.75	0	0	0	30.00	30.00	15.98
1184.14	1028	-146.63	-1.30	0.00	3549.6	3579.0	3520.2	1714.6	3912.6	80.67	-9.39	204	1189.18	0.00	0.00	2.71	0.000	0.000	0.068	3551.16	3580.19	3522.12	1714.31	2725.25	0	0	0	30.00	30.00	15.96
1377.84	0	-146.63	-1.30	0.00	3550.0	3579.7	3520.4	1714.0	2725.2	97.99	-8.67	224	1379.40	0.00	0.00	0.00	0.000	0.000	0.000	3548.12	3576.31	3519.94	1714.56	2725.81	0	0	0	30.00	30.00	30.00
1567.88	260	-146.63	-1.30	80.00	3549.1	3579.6	3518.5	1714.1	2725.3	115.06	-9.14	243	1573.58	0.00	0.00	2.85	0.000	0.000	0.125	3548.34	3578.06	3518.62	1714.19	3912.38	0	0	0	30.00	30.00	15.99
1617.89	1028	-146.63	-1.30	0.00	3549.9	3579.2	3520.6	1714.5	3912.8	120.21	-10.54	253	1623.53	0.00	0.00	2.70	0.000	0.000	0.070	3550.38	3579.56	3521.19	1713.62	2726.06	0	0	0	30.00	30.00	16.03
1805.84	0	-146.63	-1.30	0.00	3549.1	3578.0	3520.2	1714.1	2726.5	137.54	-8.98	273	1815.75	0.00	0.00	0.00	0.000	0.000	0.000	3549.38	3578.81	3519.94	1714.12	2725.75	0	0	0	30.00	30.00	30.00
1945	end dive: TARGET_DEPTH_EXCEEDED
state	1945	begin apogee
1947.48	10243	0.00	-0.32	0.00	3549.2	3578.4	3519.9	1714.1	2575.9	150.32	-9.24	287	2062.17	105.64	1.61	0.07	1.306	0.144	0.257	2948.84	3014.44	2883.25	1955.12	2623.38	0	0	0	12.21	15.99	15.56
2069	end apogee: CONTROL_FINISHED_OK
state	2069	begin climb
2069.76	10759	146.63	1.30	-80.00	2946.9	3012.2	2881.6	1955.5	2623.2	152.46	0.00	298	2196.68	108.99	2.60	3.62	1.260	0.095	0.133	2349.78	2431.62	2267.94	2348.56	1188.19	0	0	0	11.94	15.59	15.33
2214.36	1028	146.63	1.30	0.00	2346.8	2425.5	2268.1	2349.5	1188.4	136.17	17.25	325	2221.78	0.00	0.00	3.33	0.000	0.000	0.062	2346.22	2423.69	2268.75	2349.38	2621.94	0	0	0	30.00	30.00	15.46
2402.59	16646	146.63	1.30	80.00	2343.5	2420.8	2266.2	2347.6	2621.7	105.93	15.47	344	2408.44	0.00	0.00	3.18	0.000	0.000	0.130	2342.91	2418.81	2267.00	2349.06	3909.75	0	0	0	30.00	30.00	15.60
2436.94	17414	146.63	1.30	0.00	2343.1	2419.6	2266.6	2348.7	3909.6	100.22	16.57	351	2444.20	0.00	0.00	3.10	0.000	0.000	0.071	2343.62	2419.94	2267.31	2349.06	2579.19	0	0	0	30.00	30.00	15.66
2632.71	16646	146.63	1.30	80.00	2342.2	2418.2	2266.3	2348.7	2578.8	70.24	15.44	371	2638.59	0.00	0.00	3.26	0.000	0.000	0.124	2341.34	2417.94	2264.75	2348.56	3910.75	0	0	0	30.00	30.00	15.71
2662.70	17414	146.63	1.30	0.00	2341.0	2416.7	2265.2	2347.9	3910.5	65.34	16.53	377	2668.56	0.00	0.00	3.11	0.000	0.000	0.071	2340.97	2415.56	2266.38	2348.56	2577.38	0	0	0	30.00	30.00	15.76
2852.75	16386	146.63	1.30	0.00	2341.0	2416.6	2265.4	2348.7	2578.0	36.55	15.01	405	2857.29	0.00	0.00	0.00	0.000	0.000	0.000	2339.00	2415.25	2262.75	2348.44	2578.25	0	0	0	30.00	30.00	30.00
3042.52	16386	146.63	1.30	0.00	2339.9	2416.5	2263.3	2347.8	2577.5	11.58	11.88	442	3047.06	0.00	0.00	0.00	0.000	0.000	0.000	2338.56	2414.75	2262.38	2349.25	2576.75	0	0	0	30.00	30.00	30.00
3182	end climb: SURFACE_DEPTH_REACHED
state	3182	begin surface coast
3227	end surface coast: CONTROL_FINISHED_OK
state	3227	begin surface