Glider dive log

HoodCanal 24May22.01 * 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 20 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 10 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 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 85 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 159.25481 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.963169 FG_AHR_24V 206.2347 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 159.25481 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 206.2347 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.963169 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 85

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 20 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 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 0 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 250522,113810,4736.650,-12256.488,1,1.0,2,15.5 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 -57.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,114213,4736.704,-12256.436,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 192.9,1482,-17.1,-9.697,-20.82,2278,0.129

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,-0.031486,0.017271,-0.060330,1.101528,0.001196,0.016423,-0.012261,1.112747,-1002.821960,-1105.438232,-51.933159

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653480438,106.6,0,stop _24V_AH 14.78,112.250

NET CARFP,2022-05-25T12:33:32.952717,0,25,121,1,5,0,0,1;8;08197903a05000ff,1;5;ac320ec38a;1;7;cb47ef485707b2,*72 _10V_AH 14.75,0.000

MODEM_MSG CACST,8,0,20220525120001.182872,18,8105,39,0365,0000,246,02,02,00,03,1,025,121,0,5,1,0,150,6.9,6.43,-100,-3.43,-01,0.00,64,925,0025,0,1,00,00*27 FG_AHR_24Vo 206.423

FREEZE 1.76,13.009,-1.466,0,1,0 FG_AHR_10Vo 159.293

FINISH 1.8,1.020129 MEM0 60132,1,0,0

SM_CCo 3888.61,204.58,1.116,0,541.4,608.7,474.2,590.82 MEM1 65508,1,0,0

SM_GC 1.45,204.58,14.07,0.44,1.116,0.083,0.083,541.4,608.7,474.2,216.6,2774.6,0,0,0,11.96,15.56,15.61 MEM2 942888,24,103620,79

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12935,534

IRIDIUM_FIX 4738.33,-12256.21,250522,103043 CAP_FILE_SIZE 372403,0

TCM_TEMP 13.06 SDSIZE 3918848,3879712

SC_FREEKB 3875488 SDFILEDIR 346,3

PM_FREEKB_00 61436928 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK -1 MAGCAL 1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.8,-1082.7,-33.3,36,0.0208,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2010,15.77,279,2019.9,15.87

HUMID 48.63 IMPLIED_C_VBD 3125,21.738501,279,3037.4

TEMP 10.16 GPS 250522,124817,4736.548,-12256.555,1,1.2,3,15.5

INTERNAL_PRESSURE 7.91103

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1340 12801.09 nil 0 0 0.00

Pitch_motor 30 262 118.18 nil 0 0 0.00

Roll_motor 56 233 194.92 nil 0 0 0.00

Iridium 151 222 497.07 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 2291 5 173.04 SciCon 3656 6 339.95

Fast 0 0 0.00 PMAR 3662 17 959.08

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1604 0 7.57

Compass 1077 5 79.49

RAFOS 495 40 292.17

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

10.99 16386 -146.63 -1.25 0.00 537.2 598.0 476.4 215.5 2724.0 0.00 0.00 0 103.39 88.75 0.00 0.00 0.005 0.000 0.000 2640.19 2642.81 2637.56 215.56 2722.75 0 0 0 15.44 30.00 30.00

103.64 18467 -146.63 -1.25 0.00 2639.1 2640.1 2638.1 215.4 2722.4 3.50 -2.40 17 147.89 25.11 11.90 0.00 0.006 0.262 0.000 3546.16 3570.31 3522.00 1726.62 2723.38 0 0 0 15.78 15.63 30.00

331.28 292 -146.63 -1.25 80.00 3548.1 3574.5 3521.8 1726.6 2722.9 22.28 -7.01 62 337.54 0.00 0.00 2.92 0.000 0.000 0.122 3549.25 3575.19 3523.31 1725.94 3914.44 0 0 0 30.00 30.00 15.77

401.25 1060 -146.63 -1.25 0.00 3547.1 3573.7 3520.4 1726.6 3914.2 27.24 -7.02 76 407.41 0.00 0.00 2.70 0.000 0.000 0.066 3548.16 3575.31 3521.00 1726.56 2723.00 0 0 0 30.00 30.00 15.83

591.38 32 -146.63 -1.25 0.00 3549.4 3576.9 3521.8 1725.9 2722.7 39.52 -6.89 114 595.93 0.00 0.00 0.00 0.000 0.000 0.000 3548.50 3576.12 3520.88 1725.19 2722.69 0 0 0 30.00 30.00 30.00

784.84 32 -146.63 -1.25 0.00 3549.1 3577.8 3520.4 1725.1 2722.5 53.14 -6.97 148 786.39 0.00 0.00 0.00 0.000 0.000 0.000 3548.59 3575.88 3521.31 1727.19 2722.19 0 0 0 30.00 30.00 30.00

985.22 292 -146.63 -1.25 80.00 3549.0 3577.4 3520.6 1726.6 2723.9 66.09 -7.17 167 990.75 0.00 0.00 2.90 0.000 0.000 0.123 3547.66 3576.19 3519.12 1726.12 3912.00 0 0 0 30.00 30.00 15.89

1069.17 1028 -146.63 -1.25 0.00 3548.5 3575.9 3521.0 1726.6 3911.4 74.13 -8.88 184 1074.79 0.00 0.00 2.69 0.000 0.000 0.067 3547.69 3576.25 3519.12 1726.25 2724.62 0 0 0 30.00 30.00 15.92

1259.24 292 -146.63 -1.25 80.00 3549.3 3576.6 3522.0 1726.6 2725.6 88.79 -7.65 204 1264.98 0.00 0.00 2.93 0.000 0.000 0.123 3549.47 3577.75 3521.19 1726.81 3911.81 0 0 0 30.00 30.00 15.88

1313.48 1028 -146.63 -1.25 0.00 3548.7 3576.8 3520.7 1725.9 3912.0 93.59 -8.92 215 1320.55 0.00 0.00 2.68 0.000 0.000 0.068 3549.41 3578.50 3520.31 1726.44 2724.44 0 0 0 30.00 30.00 15.92

1509.24 0 -146.63 -1.25 0.00 3549.4 3577.9 3521.0 1726.3 2724.3 109.76 -8.10 235 1510.80 0.00 0.00 0.00 0.000 0.000 0.000 3548.47 3577.50 3519.44 1726.19 2722.50 0 0 0 30.00 30.00 30.00

1692.33 292 -146.63 -1.25 80.00 3550.0 3577.8 3522.2 1725.9 2723.4 123.83 -7.58 254 1698.05 0.00 0.00 2.95 0.000 0.000 0.125 3549.72 3577.25 3522.19 1725.50 3909.19 0 0 0 30.00 30.00 15.92

1746.58 1028 -146.63 -1.25 0.00 3548.9 3576.9 3521.0 1726.4 3908.4 128.48 -8.59 265 1753.66 0.00 0.00 2.69 0.000 0.000 0.069 3548.84 3577.06 3520.62 1726.06 2725.06 0 0 0 30.00 30.00 15.96

1942.33 0 -146.63 -1.25 0.00 3549.5 3577.2 3521.8 1726.8 2724.8 144.51 -8.07 285 1943.88 0.00 0.00 0.00 0.000 0.000 0.000 3548.31 3576.94 3519.69 1726.12 2725.31 0 0 0 30.00 30.00 30.00

2132 end dive: TARGET_DEPTH_EXCEEDED

state 2132 begin apogee

2133.82 10243 0.00 -0.31 0.00 3548.8 3576.5 3521.1 1726.6 2573.1 160.85 -8.66 304 2247.68 105.72 1.53 0.08 1.341 0.140 0.233 2947.09 3015.25 2878.94 1955.06 2626.00 0 0 0 12.23 15.96 15.54

2251 end apogee: CONTROL_FINISHED_OK

state 2251 begin climb

2251.42 10759 146.63 1.25 -80.00 2946.9 3014.1 2879.8 1955.4 2625.9 162.95 0.00 315 2378.51 110.57 2.53 3.62 1.287 0.094 0.134 2351.91 2436.69 2267.12 2336.56 1189.62 0 0 0 11.99 15.54 15.30

2382.00 1028 146.63 1.25 0.00 2347.5 2429.6 2265.5 2336.2 1190.1 149.54 14.74 339 2388.97 0.00 0.00 3.47 0.000 0.000 0.059 2344.03 2426.31 2261.75 2336.12 2619.88 0 0 0 30.00 30.00 15.40

2576.97 16646 146.63 1.25 80.00 2342.7 2421.9 2263.5 2337.1 2620.3 119.91 15.43 359 2582.91 0.00 0.00 3.35 0.000 0.000 0.124 2342.75 2420.50 2265.00 2336.38 3909.19 0 0 0 30.00 30.00 15.62

2621.24 17414 146.63 1.25 0.00 2341.9 2420.4 2263.4 2335.9 3907.6 112.64 16.14 368 2628.55 0.00 0.00 3.13 0.000 0.000 0.069 2341.53 2419.12 2263.94 2337.50 2578.19 0 0 0 30.00 30.00 15.68

2817.00 16646 146.63 1.25 80.00 2341.5 2420.1 2262.9 2336.9 2577.1 84.10 14.42 388 2822.97 0.00 0.00 3.39 0.000 0.000 0.120 2333.81 2404.19 2263.44 2336.31 3909.31 0 0 0 30.00 30.00 15.75

2857.01 17414 146.63 1.25 0.00 2340.3 2417.9 2262.8 2336.0 3909.1 77.89 15.63 396 2862.89 0.00 0.00 3.11 0.000 0.000 0.068 2339.34 2416.19 2262.50 2336.56 2578.75 0 0 0 30.00 30.00 15.79

3047.04 16646 146.63 1.25 80.00 2340.8 2418.4 2263.1 2336.3 2576.9 51.53 13.60 416 3053.00 0.00 0.00 3.38 0.000 0.000 0.120 2339.19 2417.06 2261.31 2336.00 3907.88 0 0 0 30.00 30.00 15.81

3097.04 17414 146.63 1.25 0.00 2339.9 2416.9 2262.9 2335.9 3909.0 44.10 15.03 426 3103.59 0.00 0.00 3.10 0.000 0.000 0.068 2338.72 2415.44 2262.00 2336.12 2576.50 0 0 0 30.00 30.00 15.85

3287.11 16386 146.63 1.25 0.00 2339.5 2416.8 2262.3 2335.4 2577.2 19.67 12.41 464 3291.66 0.00 0.00 0.00 0.000 0.000 0.000 2338.31 2416.25 2260.38 2336.12 2576.44 0 0 0 30.00 30.00 30.00

3476.26 10535 265.09 1.40 80.00 2339.4 2417.4 2261.4 2336.5 2575.9 4.51 4.38 502 3576.55 87.14 0.19 3.45 1.145 0.093 0.117 1865.34 1957.88 1772.81 2378.88 3912.06 0 0 0 12.04 15.91 15.57

3610.10 11303 450.93 1.63 0.00 1862.6 1951.1 1774.1 2378.8 3911.8 2.59 1.35 528 3641.02 24.03 0.28 3.14 1.061 0.076 0.065 1744.28 1836.00 1652.56 2435.62 2576.75 0 0 0 11.97 15.65 15.66

3641 end climb: SURFACE_DEPTH_REACHED

state 3641 begin surface coast

3645 end surface coast: CONTROL_FINISHED_OK

state 3645 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	20	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	10	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	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	85	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	159.25481	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.963169	FG_AHR_24V	206.2347	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	250522,113810,4736.650,-12256.488,1,1.0,2,15.5	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	-57.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,114213,4736.704,-12256.436,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	192.9,1482,-17.1,-9.697,-20.82,2278,0.129
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.031486,0.017271,-0.060330,1.101528,0.001196,0.016423,-0.012261,1.112747,-1002.821960,-1105.438232,-51.933159
TGT_LATLONG	4736.000,-12257.000

NAV	1653480438,106.6,0,stop	_24V_AH	14.78,112.250
NET	CARFP,2022-05-25T12:33:32.952717,0,25,121,1,5,0,0,1;8;08197903a05000ff,1;5;ac320ec38a;1;7;cb47ef485707b2,*72	_10V_AH	14.75,0.000
MODEM_MSG	CACST,8,0,20220525120001.182872,18,8105,39,0365,0000,246,02,02,00,03,1,025,121,0,5,1,0,150,6.9,6.43,-100,-3.43,-01,0.00,64,925,0025,0,1,00,00*27	FG_AHR_24Vo	206.423
FREEZE	1.76,13.009,-1.466,0,1,0	FG_AHR_10Vo	159.293
FINISH	1.8,1.020129	MEM0	60132,1,0,0
SM_CCo	3888.61,204.58,1.116,0,541.4,608.7,474.2,590.82	MEM1	65508,1,0,0
SM_GC	1.45,204.58,14.07,0.44,1.116,0.083,0.083,541.4,608.7,474.2,216.6,2774.6,0,0,0,11.96,15.56,15.61	MEM2	942888,24,103620,79
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12935,534
IRIDIUM_FIX	4738.33,-12256.21,250522,103043	CAP_FILE_SIZE	372403,0
TCM_TEMP	13.06	SDSIZE	3918848,3879712
SC_FREEKB	3875488	SDFILEDIR	346,3
PM_FREEKB_00	61436928	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	-1	MAGCAL	1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.8,-1082.7,-33.3,36,0.0208,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2010,15.77,279,2019.9,15.87
HUMID	48.63	IMPLIED_C_VBD	3125,21.738501,279,3037.4
TEMP	10.16	GPS	250522,124817,4736.548,-12256.555,1,1.2,3,15.5
INTERNAL_PRESSURE	7.91103

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1340	12801.09	nil	0	0	0.00
Pitch_motor	30	262	118.18	nil	0	0	0.00
Roll_motor	56	233	194.92	nil	0	0	0.00
Iridium	151	222	497.07	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	2291	5	173.04	SciCon	3656	6	339.95
Fast	0	0	0.00	PMAR	3662	17	959.08
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1604	0	7.57
Compass	1077	5	79.49
RAFOS	495	40	292.17
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
10.99	16386	-146.63	-1.25	0.00	537.2	598.0	476.4	215.5	2724.0	0.00	0.00	0	103.39	88.75	0.00	0.00	0.005	0.000	0.000	2640.19	2642.81	2637.56	215.56	2722.75	0	0	0	15.44	30.00	30.00
103.64	18467	-146.63	-1.25	0.00	2639.1	2640.1	2638.1	215.4	2722.4	3.50	-2.40	17	147.89	25.11	11.90	0.00	0.006	0.262	0.000	3546.16	3570.31	3522.00	1726.62	2723.38	0	0	0	15.78	15.63	30.00
331.28	292	-146.63	-1.25	80.00	3548.1	3574.5	3521.8	1726.6	2722.9	22.28	-7.01	62	337.54	0.00	0.00	2.92	0.000	0.000	0.122	3549.25	3575.19	3523.31	1725.94	3914.44	0	0	0	30.00	30.00	15.77
401.25	1060	-146.63	-1.25	0.00	3547.1	3573.7	3520.4	1726.6	3914.2	27.24	-7.02	76	407.41	0.00	0.00	2.70	0.000	0.000	0.066	3548.16	3575.31	3521.00	1726.56	2723.00	0	0	0	30.00	30.00	15.83
591.38	32	-146.63	-1.25	0.00	3549.4	3576.9	3521.8	1725.9	2722.7	39.52	-6.89	114	595.93	0.00	0.00	0.00	0.000	0.000	0.000	3548.50	3576.12	3520.88	1725.19	2722.69	0	0	0	30.00	30.00	30.00
784.84	32	-146.63	-1.25	0.00	3549.1	3577.8	3520.4	1725.1	2722.5	53.14	-6.97	148	786.39	0.00	0.00	0.00	0.000	0.000	0.000	3548.59	3575.88	3521.31	1727.19	2722.19	0	0	0	30.00	30.00	30.00
985.22	292	-146.63	-1.25	80.00	3549.0	3577.4	3520.6	1726.6	2723.9	66.09	-7.17	167	990.75	0.00	0.00	2.90	0.000	0.000	0.123	3547.66	3576.19	3519.12	1726.12	3912.00	0	0	0	30.00	30.00	15.89
1069.17	1028	-146.63	-1.25	0.00	3548.5	3575.9	3521.0	1726.6	3911.4	74.13	-8.88	184	1074.79	0.00	0.00	2.69	0.000	0.000	0.067	3547.69	3576.25	3519.12	1726.25	2724.62	0	0	0	30.00	30.00	15.92
1259.24	292	-146.63	-1.25	80.00	3549.3	3576.6	3522.0	1726.6	2725.6	88.79	-7.65	204	1264.98	0.00	0.00	2.93	0.000	0.000	0.123	3549.47	3577.75	3521.19	1726.81	3911.81	0	0	0	30.00	30.00	15.88
1313.48	1028	-146.63	-1.25	0.00	3548.7	3576.8	3520.7	1725.9	3912.0	93.59	-8.92	215	1320.55	0.00	0.00	2.68	0.000	0.000	0.068	3549.41	3578.50	3520.31	1726.44	2724.44	0	0	0	30.00	30.00	15.92
1509.24	0	-146.63	-1.25	0.00	3549.4	3577.9	3521.0	1726.3	2724.3	109.76	-8.10	235	1510.80	0.00	0.00	0.00	0.000	0.000	0.000	3548.47	3577.50	3519.44	1726.19	2722.50	0	0	0	30.00	30.00	30.00
1692.33	292	-146.63	-1.25	80.00	3550.0	3577.8	3522.2	1725.9	2723.4	123.83	-7.58	254	1698.05	0.00	0.00	2.95	0.000	0.000	0.125	3549.72	3577.25	3522.19	1725.50	3909.19	0	0	0	30.00	30.00	15.92
1746.58	1028	-146.63	-1.25	0.00	3548.9	3576.9	3521.0	1726.4	3908.4	128.48	-8.59	265	1753.66	0.00	0.00	2.69	0.000	0.000	0.069	3548.84	3577.06	3520.62	1726.06	2725.06	0	0	0	30.00	30.00	15.96
1942.33	0	-146.63	-1.25	0.00	3549.5	3577.2	3521.8	1726.8	2724.8	144.51	-8.07	285	1943.88	0.00	0.00	0.00	0.000	0.000	0.000	3548.31	3576.94	3519.69	1726.12	2725.31	0	0	0	30.00	30.00	30.00
2132	end dive: TARGET_DEPTH_EXCEEDED
state	2132	begin apogee
2133.82	10243	0.00	-0.31	0.00	3548.8	3576.5	3521.1	1726.6	2573.1	160.85	-8.66	304	2247.68	105.72	1.53	0.08	1.341	0.140	0.233	2947.09	3015.25	2878.94	1955.06	2626.00	0	0	0	12.23	15.96	15.54
2251	end apogee: CONTROL_FINISHED_OK
state	2251	begin climb
2251.42	10759	146.63	1.25	-80.00	2946.9	3014.1	2879.8	1955.4	2625.9	162.95	0.00	315	2378.51	110.57	2.53	3.62	1.287	0.094	0.134	2351.91	2436.69	2267.12	2336.56	1189.62	0	0	0	11.99	15.54	15.30
2382.00	1028	146.63	1.25	0.00	2347.5	2429.6	2265.5	2336.2	1190.1	149.54	14.74	339	2388.97	0.00	0.00	3.47	0.000	0.000	0.059	2344.03	2426.31	2261.75	2336.12	2619.88	0	0	0	30.00	30.00	15.40
2576.97	16646	146.63	1.25	80.00	2342.7	2421.9	2263.5	2337.1	2620.3	119.91	15.43	359	2582.91	0.00	0.00	3.35	0.000	0.000	0.124	2342.75	2420.50	2265.00	2336.38	3909.19	0	0	0	30.00	30.00	15.62
2621.24	17414	146.63	1.25	0.00	2341.9	2420.4	2263.4	2335.9	3907.6	112.64	16.14	368	2628.55	0.00	0.00	3.13	0.000	0.000	0.069	2341.53	2419.12	2263.94	2337.50	2578.19	0	0	0	30.00	30.00	15.68
2817.00	16646	146.63	1.25	80.00	2341.5	2420.1	2262.9	2336.9	2577.1	84.10	14.42	388	2822.97	0.00	0.00	3.39	0.000	0.000	0.120	2333.81	2404.19	2263.44	2336.31	3909.31	0	0	0	30.00	30.00	15.75
2857.01	17414	146.63	1.25	0.00	2340.3	2417.9	2262.8	2336.0	3909.1	77.89	15.63	396	2862.89	0.00	0.00	3.11	0.000	0.000	0.068	2339.34	2416.19	2262.50	2336.56	2578.75	0	0	0	30.00	30.00	15.79
3047.04	16646	146.63	1.25	80.00	2340.8	2418.4	2263.1	2336.3	2576.9	51.53	13.60	416	3053.00	0.00	0.00	3.38	0.000	0.000	0.120	2339.19	2417.06	2261.31	2336.00	3907.88	0	0	0	30.00	30.00	15.81
3097.04	17414	146.63	1.25	0.00	2339.9	2416.9	2262.9	2335.9	3909.0	44.10	15.03	426	3103.59	0.00	0.00	3.10	0.000	0.000	0.068	2338.72	2415.44	2262.00	2336.12	2576.50	0	0	0	30.00	30.00	15.85
3287.11	16386	146.63	1.25	0.00	2339.5	2416.8	2262.3	2335.4	2577.2	19.67	12.41	464	3291.66	0.00	0.00	0.00	0.000	0.000	0.000	2338.31	2416.25	2260.38	2336.12	2576.44	0	0	0	30.00	30.00	30.00
3476.26	10535	265.09	1.40	80.00	2339.4	2417.4	2261.4	2336.5	2575.9	4.51	4.38	502	3576.55	87.14	0.19	3.45	1.145	0.093	0.117	1865.34	1957.88	1772.81	2378.88	3912.06	0	0	0	12.04	15.91	15.57
3610.10	11303	450.93	1.63	0.00	1862.6	1951.1	1774.1	2378.8	3911.8	2.59	1.35	528	3641.02	24.03	0.28	3.14	1.061	0.076	0.065	1744.28	1836.00	1652.56	2435.62	2576.75	0	0	0	11.97	15.65	15.66
3641	end climb: SURFACE_DEPTH_REACHED
state	3641	begin surface coast
3645	end surface coast: CONTROL_FINISHED_OK
state	3645	begin surface