Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 18 * 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 18 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 159.59346 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.905121 FG_AHR_24V 207.81934 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 159.59346 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 207.81934 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.905121 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 18 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 250522,205409,4736.549,-12256.568,1,0.9,24,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,205841,4736.581,-12256.527,3,0.7,5,15.5 MHEAD_RNG_PITCHd_Wd 193.3,1227,-17.1,-9.697,-20.82,2278,0.196

SPEED_LIMITS 0.168,0.255 D_GRID 169

TGT_NAME S IRON 1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653516637,0.2,2,stop INTERNAL_PRESSURE 7.93665

NET CACST,8,1,20220525220321.079962,06,32767,45,0126,0150,07,00,00,00,00,-1,-01,-01,1,3,11643,0,150,10.5,0.79,-100,2.21,-01,3.05,68,10000,5000,0,-1,00,00*54 _24V_AH 14.78,114.081

MODEM_MSG CACST,8,1,20220525220510.391291,18,18493,30,0158,0000,126,04,04,02,04,-1,-01,-01,1,3,0,0,150,8.1,3.33,-100,-0.33,-01,0.04,53,925,0025,0,-1,00,00*1B _10V_AH 14.77,0.000

NET_PING 1653515591,25,1769.359619,13.500000,-2.346138 FG_AHR_24Vo 208.009

FREEZE 0.18,13.187,-1.463,0,1,0 FG_AHR_10Vo 159.646

FINISH 0.2,1.020073 MEM0 60132,1,0,0

SM_CCo 4278.48,236.28,1.105,0,540.9,608.2,473.6,590.94 MEM1 65508,1,0,0

SM_GC 1.44,236.28,13.30,3.74,1.105,0.057,0.064,540.9,608.2,473.6,211.7,2765.6,0,0,0,11.93,15.74,15.74 MEM2 942856,27,103592,79

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16133,593

IRIDIUM_FIX 4738.33,-12256.21,250522,194113 CAP_FILE_SIZE 420218,0

TCM_TEMP 13.56 SDSIZE 3918848,3876736

SC_FREEKB 0 SDFILEDIR 422,3

PM_FREEKB_00 60761792 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 0 MAGCAL 1.000000,-0.042315,0.068708,-0.074119,1.165341,0.012299,-0.063983,-0.010220,1.341660,-1036.4,-1110.3,-201.1,34,0.0494,0

MODEM 0,1653516130,47.61230,-122.96660,130.240,182794.2 IMPLIED_C_PITCH 2013,15.68,291,2021.5,15.79

RAFOS_FIX 4657.147461,-12204.585938,250522,222210,2,510,2654.62 IMPLIED_C_VBD 3158,28.531452,291,3050.0

HUMID 48.51 GPS 250522,221118,4736.326,-12256.682,1,1.5,4,15.5

TEMP 10.75

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1321 12614.50 nil 0 0 0.00

Pitch_motor 29 270 117.79 nil 0 0 0.00

Roll_motor 69 225 232.60 nil 0 0 0.00

Iridium 176 219 573.16 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.13 nil 0 0 0.00

Core 2559 5 193.57 SciCon 4009 6 385.42

Fast 0 0 0.00 PMAR 4016 17 1054.58

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1716 0 8.11

Compass 1200 5 88.64

RAFOS 1533 40 906.03

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

11.03 16386 -146.63 -1.26 0.00 537.7 597.4 477.9 215.1 2771.6 0.00 0.00 0 110.04 95.11 0.00 0.00 0.005 0.000 0.000 2768.50 2768.31 2768.69 215.31 2773.31 0 0 0 15.73 30.00 30.00

110.31 18983 -146.63 -1.26 -80.00 2767.0 2767.1 2766.8 215.4 2772.9 3.18 -1.65 17 156.56 21.48 11.99 3.65 0.006 0.270 0.120 3546.19 3571.38 3521.00 1725.12 1279.06 0 0 0 15.77 15.62 15.70

159.88 1028 -146.63 -1.26 0.00 3546.3 3571.5 3521.2 1724.9 1279.3 7.95 -8.17 26 166.50 0.00 0.00 3.54 0.000 0.000 0.060 3547.06 3572.50 3521.62 1725.38 2769.81 0 0 0 30.00 30.00 15.73

348.62 292 -146.63 -1.26 80.00 3548.3 3575.7 3521.0 1725.2 2769.4 19.27 -4.70 63 354.99 0.00 0.00 2.91 0.000 0.000 0.117 3548.69 3576.00 3521.38 1725.06 3911.62 0 0 0 30.00 30.00 15.75

403.70 1060 -146.63 -1.26 0.00 3547.6 3575.3 3519.9 1724.9 3910.6 22.96 -6.85 74 410.03 0.00 0.00 2.76 0.000 0.000 0.062 3548.78 3576.38 3521.19 1725.44 2723.62 0 0 0 30.00 30.00 15.79

593.70 32 -146.63 -1.26 0.00 3548.6 3575.7 3521.6 1724.8 2723.9 32.95 -5.16 112 598.26 0.00 0.00 0.00 0.000 0.000 0.000 3548.34 3575.69 3521.00 1725.44 2723.88 0 0 0 30.00 30.00 30.00

778.73 292 -146.63 -1.26 80.00 3549.2 3577.0 3521.4 1725.0 2724.0 43.71 -5.91 149 785.24 0.00 0.00 3.01 0.000 0.000 0.115 3549.03 3576.31 3521.75 1725.25 3911.50 0 0 0 30.00 30.00 15.86

913.27 1060 -146.63 -1.26 0.00 3549.4 3576.6 3522.1 1724.2 3912.4 53.02 -6.94 175 918.90 0.00 0.00 2.75 0.000 0.000 0.064 3548.50 3575.00 3522.00 1725.12 2724.25 0 0 0 30.00 30.00 15.90

1103.32 548 -146.63 -1.26 -80.00 3549.9 3577.8 3522.1 1725.1 2724.5 65.34 -6.68 195 1109.31 0.00 0.00 3.48 0.000 0.000 0.123 3550.16 3576.81 3523.50 1725.44 1280.94 0 0 0 30.00 30.00 15.89

1127.57 1060 -146.63 -1.26 0.00 3550.1 3578.6 3521.6 1725.4 1280.6 67.24 -6.99 200 1135.00 0.00 0.00 3.46 0.000 0.000 0.061 3489.59 3456.25 3522.94 1724.81 2768.62 0 0 0 30.00 30.00 15.93

1323.35 292 -146.63 -1.26 80.00 3548.8 3576.3 3521.2 1725.4 2768.8 81.13 -6.94 220 1329.04 0.00 0.00 2.88 0.000 0.000 0.120 3549.16 3576.88 3521.44 1725.38 3910.00 0 0 0 30.00 30.00 15.92

1431.92 1060 -146.63 -1.26 0.00 3549.1 3576.8 3521.4 1725.4 3909.7 89.17 -7.37 241 1438.99 0.00 0.00 2.74 0.000 0.000 0.065 3550.25 3578.44 3522.06 1725.06 2726.19 0 0 0 30.00 30.00 15.95

1627.76 32 -146.63 -1.26 0.00 3549.8 3578.1 3521.4 1725.6 2727.1 102.76 -7.29 261 1629.32 0.00 0.00 0.00 0.000 0.000 0.000 3547.78 3576.56 3519.00 1725.81 2726.38 0 0 0 30.00 30.00 30.00

1810.19 260 -146.63 -1.26 80.00 3549.5 3576.9 3522.1 1725.0 2726.5 117.22 -8.17 279 1815.95 0.00 0.00 2.99 0.000 0.000 0.119 3548.84 3575.88 3521.81 1725.38 3912.94 0 0 0 30.00 30.00 15.95

1854.46 1028 -146.63 -1.26 0.00 3549.7 3576.9 3522.4 1725.0 3913.8 121.19 -8.93 288 1861.60 0.00 0.00 2.75 0.000 0.000 0.066 3549.59 3577.19 3522.00 1724.94 2727.88 0 0 0 30.00 30.00 15.97

2050.13 0 -146.63 -1.26 0.00 3549.8 3577.6 3522.1 1725.6 2727.1 136.74 -7.95 308 2060.26 0.00 0.00 0.00 0.000 0.000 0.000 3549.28 3576.69 3521.88 1725.56 2727.62 0 0 0 30.00 30.00 30.00

2250.27 260 -146.63 -1.26 80.00 3549.4 3577.9 3520.9 1724.9 2727.1 153.09 -8.30 328 2256.07 0.00 0.00 3.01 0.000 0.000 0.122 3549.03 3576.56 3521.50 1725.12 3912.94 0 0 0 30.00 30.00 15.94

2310.26 1028 -146.63 -1.26 0.00 3549.1 3576.4 3521.8 1725.3 3913.4 158.64 -9.38 340 2315.93 0.00 0.00 2.75 0.000 0.000 0.068 3550.25 3578.12 3522.38 1725.31 2726.38 0 0 0 30.00 30.00 15.98

2330 end dive: TARGET_DEPTH_EXCEEDED

state 2330 begin apogee

2331.72 10243 0.00 -0.31 0.00 3549.2 3576.9 3521.6 1725.0 2575.2 160.40 -8.99 343 2446.58 105.90 1.54 0.07 1.322 0.138 0.225 2950.00 3018.06 2881.94 1956.75 2622.69 0 0 0 12.20 15.95 15.52

2450 end apogee: CONTROL_FINISHED_OK

state 2450 begin climb

2450.75 10243 146.63 1.26 0.00 2946.9 3013.5 2880.3 1956.1 2622.2 162.20 0.00 354 2571.85 110.12 2.53 0.00 1.268 0.091 0.000 2349.47 2432.88 2266.06 2339.06 2622.69 0 0 0 11.91 15.54 30.00

2755.25 16646 146.63 1.26 80.00 2342.0 2422.6 2261.3 2338.8 2621.9 122.25 14.99 385 2761.20 0.00 0.00 3.32 0.000 0.000 0.118 2343.72 2424.88 2262.56 2337.12 3911.94 0 0 0 30.00 30.00 15.61

2815.24 17414 146.63 1.26 0.00 2341.5 2420.5 2262.5 2337.4 3910.3 113.08 15.29 397 2821.13 0.00 0.00 3.15 0.000 0.000 0.068 2314.38 2365.62 2263.12 2338.69 2578.44 0 0 0 30.00 30.00 15.68

3005.26 16386 146.63 1.26 0.00 2340.4 2419.5 2261.2 2339.1 2578.9 84.78 14.89 417 3006.84 0.00 0.00 0.00 0.000 0.000 0.000 2336.78 2416.00 2257.56 2338.44 2579.19 0 0 0 30.00 30.00 30.00

3193.29 16646 146.63 1.26 80.00 2339.4 2417.7 2261.1 2339.5 2579.3 57.91 13.80 436 3199.24 0.00 0.00 3.38 0.000 0.000 0.118 2337.94 2418.25 2257.62 2337.06 3910.44 0 0 0 30.00 30.00 15.80

3247.21 17414 146.63 1.26 0.00 2339.1 2416.2 2262.1 2339.1 3909.9 49.95 14.69 446 3253.66 0.00 0.00 3.12 0.000 0.000 0.068 2340.69 2417.12 2264.25 2337.81 2577.62 0 0 0 30.00 30.00 15.82

3437.20 16646 146.63 1.26 80.00 2339.5 2417.2 2261.8 2338.2 2578.3 25.13 12.39 484 3443.89 0.00 0.00 3.38 0.000 0.000 0.119 2337.53 2415.25 2259.81 2338.94 3908.25 0 0 0 30.00 30.00 15.84

3492.30 17414 146.63 1.26 0.00 2338.1 2414.8 2261.4 2338.7 3908.2 17.80 13.41 495 3498.86 0.00 0.00 3.10 0.000 0.000 0.068 2341.03 2417.94 2264.12 2338.62 2576.75 0 0 0 30.00 30.00 15.88

3680.39 10791 250.96 1.38 -80.00 2337.9 2414.8 2261.1 2338.9 2576.9 4.04 5.01 531 3770.35 76.92 0.16 3.51 1.124 0.099 0.133 1925.16 2014.50 1835.81 2375.50 1186.81 0 0 0 12.12 15.89 15.57

3857 end climb: SURFACE_DEPTH_REACHED

state 3857 begin surface coast

3997 end surface coast: CONTROL_FINISHED_OK

state 3997 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	18	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	159.59346	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.905121	FG_AHR_24V	207.81934	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	250522,205409,4736.549,-12256.568,1,0.9,24,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,205841,4736.581,-12256.527,3,0.7,5,15.5	MHEAD_RNG_PITCHd_Wd	193.3,1227,-17.1,-9.697,-20.82,2278,0.196
SPEED_LIMITS	0.168,0.255	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819
TGT_LATLONG	4736.000,-12257.000

NAV	1653516637,0.2,2,stop	INTERNAL_PRESSURE	7.93665
NET	CACST,8,1,20220525220321.079962,06,32767,45,0126,0150,07,00,00,00,00,-1,-01,-01,1,3,11643,0,150,10.5,0.79,-100,2.21,-01,3.05,68,10000,5000,0,-1,00,00*54	_24V_AH	14.78,114.081
MODEM_MSG	CACST,8,1,20220525220510.391291,18,18493,30,0158,0000,126,04,04,02,04,-1,-01,-01,1,3,0,0,150,8.1,3.33,-100,-0.33,-01,0.04,53,925,0025,0,-1,00,00*1B	_10V_AH	14.77,0.000
NET_PING	1653515591,25,1769.359619,13.500000,-2.346138	FG_AHR_24Vo	208.009
FREEZE	0.18,13.187,-1.463,0,1,0	FG_AHR_10Vo	159.646
FINISH	0.2,1.020073	MEM0	60132,1,0,0
SM_CCo	4278.48,236.28,1.105,0,540.9,608.2,473.6,590.94	MEM1	65508,1,0,0
SM_GC	1.44,236.28,13.30,3.74,1.105,0.057,0.064,540.9,608.2,473.6,211.7,2765.6,0,0,0,11.93,15.74,15.74	MEM2	942856,27,103592,79
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16133,593
IRIDIUM_FIX	4738.33,-12256.21,250522,194113	CAP_FILE_SIZE	420218,0
TCM_TEMP	13.56	SDSIZE	3918848,3876736
SC_FREEKB	0	SDFILEDIR	422,3
PM_FREEKB_00	60761792	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	0	MAGCAL	1.000000,-0.042315,0.068708,-0.074119,1.165341,0.012299,-0.063983,-0.010220,1.341660,-1036.4,-1110.3,-201.1,34,0.0494,0
MODEM	0,1653516130,47.61230,-122.96660,130.240,182794.2	IMPLIED_C_PITCH	2013,15.68,291,2021.5,15.79
RAFOS_FIX	4657.147461,-12204.585938,250522,222210,2,510,2654.62	IMPLIED_C_VBD	3158,28.531452,291,3050.0
HUMID	48.51	GPS	250522,221118,4736.326,-12256.682,1,1.5,4,15.5
TEMP	10.75

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1321	12614.50	nil	0	0	0.00
Pitch_motor	29	270	117.79	nil	0	0	0.00
Roll_motor	69	225	232.60	nil	0	0	0.00
Iridium	176	219	573.16	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.13	nil	0	0	0.00
Core	2559	5	193.57	SciCon	4009	6	385.42
Fast	0	0	0.00	PMAR	4016	17	1054.58
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1716	0	8.11
Compass	1200	5	88.64
RAFOS	1533	40	906.03
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
11.03	16386	-146.63	-1.26	0.00	537.7	597.4	477.9	215.1	2771.6	0.00	0.00	0	110.04	95.11	0.00	0.00	0.005	0.000	0.000	2768.50	2768.31	2768.69	215.31	2773.31	0	0	0	15.73	30.00	30.00
110.31	18983	-146.63	-1.26	-80.00	2767.0	2767.1	2766.8	215.4	2772.9	3.18	-1.65	17	156.56	21.48	11.99	3.65	0.006	0.270	0.120	3546.19	3571.38	3521.00	1725.12	1279.06	0	0	0	15.77	15.62	15.70
159.88	1028	-146.63	-1.26	0.00	3546.3	3571.5	3521.2	1724.9	1279.3	7.95	-8.17	26	166.50	0.00	0.00	3.54	0.000	0.000	0.060	3547.06	3572.50	3521.62	1725.38	2769.81	0	0	0	30.00	30.00	15.73
348.62	292	-146.63	-1.26	80.00	3548.3	3575.7	3521.0	1725.2	2769.4	19.27	-4.70	63	354.99	0.00	0.00	2.91	0.000	0.000	0.117	3548.69	3576.00	3521.38	1725.06	3911.62	0	0	0	30.00	30.00	15.75
403.70	1060	-146.63	-1.26	0.00	3547.6	3575.3	3519.9	1724.9	3910.6	22.96	-6.85	74	410.03	0.00	0.00	2.76	0.000	0.000	0.062	3548.78	3576.38	3521.19	1725.44	2723.62	0	0	0	30.00	30.00	15.79
593.70	32	-146.63	-1.26	0.00	3548.6	3575.7	3521.6	1724.8	2723.9	32.95	-5.16	112	598.26	0.00	0.00	0.00	0.000	0.000	0.000	3548.34	3575.69	3521.00	1725.44	2723.88	0	0	0	30.00	30.00	30.00
778.73	292	-146.63	-1.26	80.00	3549.2	3577.0	3521.4	1725.0	2724.0	43.71	-5.91	149	785.24	0.00	0.00	3.01	0.000	0.000	0.115	3549.03	3576.31	3521.75	1725.25	3911.50	0	0	0	30.00	30.00	15.86
913.27	1060	-146.63	-1.26	0.00	3549.4	3576.6	3522.1	1724.2	3912.4	53.02	-6.94	175	918.90	0.00	0.00	2.75	0.000	0.000	0.064	3548.50	3575.00	3522.00	1725.12	2724.25	0	0	0	30.00	30.00	15.90
1103.32	548	-146.63	-1.26	-80.00	3549.9	3577.8	3522.1	1725.1	2724.5	65.34	-6.68	195	1109.31	0.00	0.00	3.48	0.000	0.000	0.123	3550.16	3576.81	3523.50	1725.44	1280.94	0	0	0	30.00	30.00	15.89
1127.57	1060	-146.63	-1.26	0.00	3550.1	3578.6	3521.6	1725.4	1280.6	67.24	-6.99	200	1135.00	0.00	0.00	3.46	0.000	0.000	0.061	3489.59	3456.25	3522.94	1724.81	2768.62	0	0	0	30.00	30.00	15.93
1323.35	292	-146.63	-1.26	80.00	3548.8	3576.3	3521.2	1725.4	2768.8	81.13	-6.94	220	1329.04	0.00	0.00	2.88	0.000	0.000	0.120	3549.16	3576.88	3521.44	1725.38	3910.00	0	0	0	30.00	30.00	15.92
1431.92	1060	-146.63	-1.26	0.00	3549.1	3576.8	3521.4	1725.4	3909.7	89.17	-7.37	241	1438.99	0.00	0.00	2.74	0.000	0.000	0.065	3550.25	3578.44	3522.06	1725.06	2726.19	0	0	0	30.00	30.00	15.95
1627.76	32	-146.63	-1.26	0.00	3549.8	3578.1	3521.4	1725.6	2727.1	102.76	-7.29	261	1629.32	0.00	0.00	0.00	0.000	0.000	0.000	3547.78	3576.56	3519.00	1725.81	2726.38	0	0	0	30.00	30.00	30.00
1810.19	260	-146.63	-1.26	80.00	3549.5	3576.9	3522.1	1725.0	2726.5	117.22	-8.17	279	1815.95	0.00	0.00	2.99	0.000	0.000	0.119	3548.84	3575.88	3521.81	1725.38	3912.94	0	0	0	30.00	30.00	15.95
1854.46	1028	-146.63	-1.26	0.00	3549.7	3576.9	3522.4	1725.0	3913.8	121.19	-8.93	288	1861.60	0.00	0.00	2.75	0.000	0.000	0.066	3549.59	3577.19	3522.00	1724.94	2727.88	0	0	0	30.00	30.00	15.97
2050.13	0	-146.63	-1.26	0.00	3549.8	3577.6	3522.1	1725.6	2727.1	136.74	-7.95	308	2060.26	0.00	0.00	0.00	0.000	0.000	0.000	3549.28	3576.69	3521.88	1725.56	2727.62	0	0	0	30.00	30.00	30.00
2250.27	260	-146.63	-1.26	80.00	3549.4	3577.9	3520.9	1724.9	2727.1	153.09	-8.30	328	2256.07	0.00	0.00	3.01	0.000	0.000	0.122	3549.03	3576.56	3521.50	1725.12	3912.94	0	0	0	30.00	30.00	15.94
2310.26	1028	-146.63	-1.26	0.00	3549.1	3576.4	3521.8	1725.3	3913.4	158.64	-9.38	340	2315.93	0.00	0.00	2.75	0.000	0.000	0.068	3550.25	3578.12	3522.38	1725.31	2726.38	0	0	0	30.00	30.00	15.98
2330	end dive: TARGET_DEPTH_EXCEEDED
state	2330	begin apogee
2331.72	10243	0.00	-0.31	0.00	3549.2	3576.9	3521.6	1725.0	2575.2	160.40	-8.99	343	2446.58	105.90	1.54	0.07	1.322	0.138	0.225	2950.00	3018.06	2881.94	1956.75	2622.69	0	0	0	12.20	15.95	15.52
2450	end apogee: CONTROL_FINISHED_OK
state	2450	begin climb
2450.75	10243	146.63	1.26	0.00	2946.9	3013.5	2880.3	1956.1	2622.2	162.20	0.00	354	2571.85	110.12	2.53	0.00	1.268	0.091	0.000	2349.47	2432.88	2266.06	2339.06	2622.69	0	0	0	11.91	15.54	30.00
2755.25	16646	146.63	1.26	80.00	2342.0	2422.6	2261.3	2338.8	2621.9	122.25	14.99	385	2761.20	0.00	0.00	3.32	0.000	0.000	0.118	2343.72	2424.88	2262.56	2337.12	3911.94	0	0	0	30.00	30.00	15.61
2815.24	17414	146.63	1.26	0.00	2341.5	2420.5	2262.5	2337.4	3910.3	113.08	15.29	397	2821.13	0.00	0.00	3.15	0.000	0.000	0.068	2314.38	2365.62	2263.12	2338.69	2578.44	0	0	0	30.00	30.00	15.68
3005.26	16386	146.63	1.26	0.00	2340.4	2419.5	2261.2	2339.1	2578.9	84.78	14.89	417	3006.84	0.00	0.00	0.00	0.000	0.000	0.000	2336.78	2416.00	2257.56	2338.44	2579.19	0	0	0	30.00	30.00	30.00
3193.29	16646	146.63	1.26	80.00	2339.4	2417.7	2261.1	2339.5	2579.3	57.91	13.80	436	3199.24	0.00	0.00	3.38	0.000	0.000	0.118	2337.94	2418.25	2257.62	2337.06	3910.44	0	0	0	30.00	30.00	15.80
3247.21	17414	146.63	1.26	0.00	2339.1	2416.2	2262.1	2339.1	3909.9	49.95	14.69	446	3253.66	0.00	0.00	3.12	0.000	0.000	0.068	2340.69	2417.12	2264.25	2337.81	2577.62	0	0	0	30.00	30.00	15.82
3437.20	16646	146.63	1.26	80.00	2339.5	2417.2	2261.8	2338.2	2578.3	25.13	12.39	484	3443.89	0.00	0.00	3.38	0.000	0.000	0.119	2337.53	2415.25	2259.81	2338.94	3908.25	0	0	0	30.00	30.00	15.84
3492.30	17414	146.63	1.26	0.00	2338.1	2414.8	2261.4	2338.7	3908.2	17.80	13.41	495	3498.86	0.00	0.00	3.10	0.000	0.000	0.068	2341.03	2417.94	2264.12	2338.62	2576.75	0	0	0	30.00	30.00	15.88
3680.39	10791	250.96	1.38	-80.00	2337.9	2414.8	2261.1	2338.9	2576.9	4.04	5.01	531	3770.35	76.92	0.16	3.51	1.124	0.099	0.133	1925.16	2014.50	1835.81	2375.50	1186.81	0	0	0	12.12	15.89	15.57
3857	end climb: SURFACE_DEPTH_REACHED
state	3857	begin surface coast
3997	end surface coast: CONTROL_FINISHED_OK
state	3997	begin surface