Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 19 * 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 19 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 159.64719 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.79148 FG_AHR_24V 208.01936 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 159.64719 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 208.01936 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.79148 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 19 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 250522,221118,4736.326,-12256.682,1,1.5,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,221538,4736.357,-12256.626,3,1.5,6,15.5 MHEAD_RNG_PITCHd_Wd 199.7,810,-17.9,-9.697,-21.55,2093,0.149

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME ans1 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:

NET CACST,8,0,20220525231323.156550,06,32767,45,0111,0150,07,00,00,00,00,1,045,025,0,5,2,0,150,2.7,4.08,-100,-1.08,-01,-0.57,69,10000,5000,0,-1,-1,00*5F INTERNAL_PRESSURE 7.92442

NET_PING 1653517391,25,1838.226074,13.200000,-2.447427 _24V_AH 14.78,114.308

NAV 1653520035,42.1,1,stop _10V_AH 14.76,0.000

MODEM_MSG CACST,8,1,20220525230500.444307,18,32767,33,0115,0000,07,01,01,02,01,-1,-01,-01,1,3,1,0,150,14.1,0.17,-100,2.83,-01,-0.26,57,925,0025,0,-1,00,00*13 FG_AHR_24Vo 208.206

FREEZE 0.16,12.841,-1.029,0,1,0 FG_AHR_10Vo 159.690

FINISH 0.2,1.014071 MEM0 60132,1,0,0

SM_CCo 3936.40,173.99,1.088,0,541.2,607.3,475.1,590.88 MEM1 65508,1,0,0

SM_GC 1.33,173.99,13.57,0.44,1.088,0.048,0.090,541.2,607.3,475.1,211.5,2774.0,0,0,0,11.90,15.58,15.59 MEM2 942300,30,103928,87

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16135,546

IRIDIUM_FIX 4738.33,-12256.21,250522,205546 CAP_FILE_SIZE 384511,0

TCM_TEMP 13.59 SDSIZE 3918848,3876352

SC_FREEKB 3872608 SDFILEDIR 433,3

PM_FREEKB_00 60674112 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,-0.011752,0.042634,-0.108025,1.146976,0.047791,-0.013784,-0.197334,1.205743,-1004.1,-1116.3,-105.9,34,0.0510,0

MODEM 1,1653519900,47.60000,-122.95000,0.444,650.9 IMPLIED_C_PITCH 2013,15.89,268,2021.6,15.84

RAFOS_FIX 4657.147461,-12204.585938,250522,222210,2,510,2654.62 IMPLIED_C_VBD 3155,23.579287,268,3050.0

HUMID 48.70 GPS 250522,232240,4736.128,-12256.751,2,1.1,14,15.5

TEMP 10.55

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 649 1324 12711.97 nil 0 0 0.00

Pitch_motor 29 268 118.92 nil 0 0 0.00

Roll_motor 56 215 179.40 nil 0 0 0.00

Iridium 162 227 544.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.39 nil 0 0 0.00

Core 2382 5 180.08 SciCon 3738 6 354.15

Fast 0 0 0.00 PMAR 3744 17 981.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1609 0 7.60

Compass 1109 5 81.90

RAFOS 860 40 507.84

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

11.05 16386 -134.70 -1.30 0.00 537.4 598.4 476.4 211.4 2725.7 0.00 0.00 0 115.97 100.86 0.00 0.00 0.005 0.000 0.000 2879.53 2881.81 2877.25 211.69 2724.75 0 0 0 15.74 30.00 30.00

116.22 18467 -146.63 -1.32 0.00 2879.2 2881.2 2877.1 211.6 2724.2 3.18 -1.80 20 155.48 18.27 11.81 0.00 0.006 0.268 0.000 3545.62 3570.00 3521.25 1711.00 2724.19 0 0 0 15.80 15.63 30.00

336.81 32 -146.63 -1.32 80.00 3548.3 3575.1 3521.6 1710.9 2724.3 23.09 -6.42 64 341.29 0.00 0.00 0.00 0.000 0.000 0.000 3547.78 3574.94 3520.62 1710.25 2724.12 0 0 0 30.00 30.00 30.00

525.40 292 -146.63 -1.32 80.00 3547.7 3574.6 3520.8 1710.3 2724.4 32.93 -5.30 101 531.95 0.00 0.00 3.04 0.000 0.000 0.120 3547.78 3574.50 3521.06 1710.81 3909.69 0 0 0 30.00 30.00 15.81

760.47 1060 -146.63 -1.32 0.00 3547.8 3574.9 3520.8 1710.5 3910.9 49.40 -7.58 148 766.83 0.00 0.00 2.75 0.000 0.000 0.065 3548.34 3574.69 3522.00 1710.44 2724.31 0 0 0 30.00 30.00 15.91

954.26 292 -146.63 -1.32 80.00 3549.2 3575.4 3522.9 1710.5 2724.4 63.27 -7.12 168 960.04 0.00 0.00 3.02 0.000 0.000 0.119 3546.84 3574.19 3519.50 1710.62 3912.00 0 0 0 30.00 30.00 15.87

1004.23 1028 -146.63 -1.32 0.00 3548.1 3575.5 3520.6 1710.8 3910.8 67.37 -8.29 178 1016.00 0.00 0.00 2.74 0.000 0.000 0.065 3548.25 3575.94 3520.56 1711.12 2724.75 0 0 0 30.00 30.00 15.90

1199.42 32 -146.63 -1.32 0.00 3549.0 3576.8 3521.2 1710.5 2725.0 82.33 -7.59 198 1200.98 0.00 0.00 0.00 0.000 0.000 0.000 3547.47 3575.06 3519.88 1710.44 2725.94 0 0 0 30.00 30.00 30.00

1389.41 260 -146.63 -1.32 80.00 3549.0 3575.5 3522.4 1711.2 2724.3 97.06 -8.04 217 1395.23 0.00 0.00 3.01 0.000 0.000 0.121 3548.88 3576.38 3521.38 1711.31 3909.69 0 0 0 30.00 30.00 15.91

1429.41 1028 -146.63 -1.32 0.00 3547.8 3575.3 3520.3 1711.0 3909.7 100.65 -8.97 225 1435.09 0.00 0.00 2.73 0.000 0.000 0.067 3547.31 3575.06 3519.56 1710.88 2722.56 0 0 0 30.00 30.00 15.95

1615.62 260 -146.63 -1.32 80.00 3548.5 3575.2 3521.8 1711.0 2723.8 115.63 -8.21 244 1625.78 0.00 0.00 3.01 0.000 0.000 0.123 3548.06 3575.25 3520.88 1710.69 3911.00 0 0 0 30.00 30.00 15.92

1654.32 1028 -146.63 -1.32 0.00 3547.5 3575.6 3519.3 1710.7 3910.9 119.59 -8.71 252 1659.97 0.00 0.00 2.74 0.000 0.000 0.067 3549.72 3576.25 3523.19 1711.31 2727.69 0 0 0 30.00 30.00 15.97

1844.34 0 -146.63 -1.32 0.00 3549.0 3576.9 3521.1 1710.6 2727.4 135.24 -8.02 272 1845.90 0.00 0.00 0.00 0.000 0.000 0.000 3547.44 3575.38 3519.50 1710.56 2727.69 0 0 0 30.00 30.00 30.00

2027.39 260 -146.63 -1.32 80.00 3549.1 3575.7 3522.5 1710.3 2727.7 150.24 -8.26 291 2033.16 0.00 0.00 2.99 0.000 0.000 0.124 3549.31 3576.44 3522.19 1710.31 3911.69 0 0 0 30.00 30.00 15.96

2097.41 1028 -146.63 -1.32 0.00 3548.3 3575.6 3521.0 1710.4 3911.4 156.84 -9.63 305 2103.12 0.00 0.00 2.74 0.000 0.000 0.069 3549.00 3575.62 3522.38 1710.88 2728.62 0 0 0 30.00 30.00 16.00

2137 end dive: TARGET_DEPTH_EXCEEDED

state 2137 begin apogee

2138.86 10243 0.00 -0.32 0.00 3548.1 3575.1 3521.1 1710.6 2572.5 160.36 -8.75 310 2253.70 105.87 1.63 0.09 1.325 0.146 0.216 2949.78 3018.19 2881.38 1955.50 2624.56 0 0 0 12.16 15.97 15.53

2257 end apogee: CONTROL_FINISHED_OK

state 2257 begin climb

2257.28 10759 146.63 1.32 -80.00 2947.2 3013.9 2880.4 1955.0 2624.5 162.03 0.00 321 2383.28 109.83 2.62 3.70 1.264 0.094 0.131 2347.00 2429.19 2264.81 2353.25 1188.06 0 0 0 11.90 15.55 15.31

2386.04 1028 146.63 1.32 0.00 2348.2 2429.6 2266.7 2352.9 1188.4 147.96 14.49 334 2393.46 0.00 0.00 3.43 0.000 0.000 0.059 2346.69 2427.50 2265.88 2353.25 2620.38 0 0 0 30.00 30.00 15.40

2582.16 16646 146.63 1.32 80.00 2342.4 2421.8 2262.9 2353.6 2621.0 117.73 16.16 353 2587.89 0.00 0.00 3.33 0.000 0.000 0.124 2341.34 2420.75 2261.94 2354.12 3908.00 0 0 0 30.00 30.00 15.62

2666.32 17414 146.63 1.32 0.00 2340.9 2419.1 2262.8 2353.8 3910.4 101.73 16.55 370 2672.17 0.00 0.00 3.16 0.000 0.000 0.068 2339.00 2417.19 2260.81 2353.44 2578.19 0 0 0 30.00 30.00 15.69

2856.34 16386 146.63 1.32 0.00 2340.4 2419.1 2261.8 2354.6 2578.1 72.41 15.24 390 2857.92 0.00 0.00 0.00 0.000 0.000 0.000 2337.25 2415.69 2258.81 2354.00 2577.62 0 0 0 30.00 30.00 30.00

3041.36 16646 146.63 1.32 80.00 2340.2 2418.6 2261.8 2353.6 2577.5 45.07 14.30 411 3048.05 0.00 0.00 3.39 0.000 0.000 0.118 2342.16 2421.69 2262.62 2353.38 3912.19 0 0 0 30.00 30.00 15.76

3081.45 17414 146.63 1.32 0.00 2339.1 2416.1 2262.1 2354.3 3913.1 39.10 15.04 419 3088.05 0.00 0.00 3.12 0.000 0.000 0.068 2337.97 2415.69 2260.25 2353.44 2577.06 0 0 0 30.00 30.00 15.81

3271.50 16646 146.63 1.32 80.00 2339.7 2417.1 2262.3 2353.6 2577.2 13.55 13.33 457 3278.20 0.00 0.00 3.38 0.000 0.000 0.118 2339.00 2417.50 2260.50 2353.44 3910.50 0 0 0 30.00 30.00 15.83

3331.66 17414 146.63 1.32 0.00 2338.1 2413.9 2262.3 2353.8 3908.8 6.58 10.12 469 3338.18 0.00 0.00 3.11 0.000 0.000 0.067 2338.06 2414.50 2261.62 2353.31 2578.81 0 0 0 30.00 30.00 15.88

3519.91 10535 346.58 1.56 80.00 2337.6 2414.4 2260.7 2353.1 2577.6 4.42 -0.08 506 3667.14 140.51 0.34 0.00 1.119 0.075 0.000 1558.94 1650.50 1467.38 2420.88 2577.81 0 0 0 12.08 15.91 30.00

3667 end climb: SURFACE_DEPTH_REACHED

state 3667 begin surface coast

3726 end surface coast: CONTROL_FINISHED_OK

state 3726 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	19	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	159.64719	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.79148	FG_AHR_24V	208.01936	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	250522,221118,4736.326,-12256.682,1,1.5,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,221538,4736.357,-12256.626,3,1.5,6,15.5	MHEAD_RNG_PITCHd_Wd	199.7,810,-17.9,-9.697,-21.55,2093,0.149
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	ans1	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

NET	CACST,8,0,20220525231323.156550,06,32767,45,0111,0150,07,00,00,00,00,1,045,025,0,5,2,0,150,2.7,4.08,-100,-1.08,-01,-0.57,69,10000,5000,0,-1,-1,00*5F	INTERNAL_PRESSURE	7.92442
NET_PING	1653517391,25,1838.226074,13.200000,-2.447427	_24V_AH	14.78,114.308
NAV	1653520035,42.1,1,stop	_10V_AH	14.76,0.000
MODEM_MSG	CACST,8,1,20220525230500.444307,18,32767,33,0115,0000,07,01,01,02,01,-1,-01,-01,1,3,1,0,150,14.1,0.17,-100,2.83,-01,-0.26,57,925,0025,0,-1,00,00*13	FG_AHR_24Vo	208.206
FREEZE	0.16,12.841,-1.029,0,1,0	FG_AHR_10Vo	159.690
FINISH	0.2,1.014071	MEM0	60132,1,0,0
SM_CCo	3936.40,173.99,1.088,0,541.2,607.3,475.1,590.88	MEM1	65508,1,0,0
SM_GC	1.33,173.99,13.57,0.44,1.088,0.048,0.090,541.2,607.3,475.1,211.5,2774.0,0,0,0,11.90,15.58,15.59	MEM2	942300,30,103928,87
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16135,546
IRIDIUM_FIX	4738.33,-12256.21,250522,205546	CAP_FILE_SIZE	384511,0
TCM_TEMP	13.59	SDSIZE	3918848,3876352
SC_FREEKB	3872608	SDFILEDIR	433,3
PM_FREEKB_00	60674112	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,-0.011752,0.042634,-0.108025,1.146976,0.047791,-0.013784,-0.197334,1.205743,-1004.1,-1116.3,-105.9,34,0.0510,0
MODEM	1,1653519900,47.60000,-122.95000,0.444,650.9	IMPLIED_C_PITCH	2013,15.89,268,2021.6,15.84
RAFOS_FIX	4657.147461,-12204.585938,250522,222210,2,510,2654.62	IMPLIED_C_VBD	3155,23.579287,268,3050.0
HUMID	48.70	GPS	250522,232240,4736.128,-12256.751,2,1.1,14,15.5
TEMP	10.55

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	649	1324	12711.97	nil	0	0	0.00
Pitch_motor	29	268	118.92	nil	0	0	0.00
Roll_motor	56	215	179.40	nil	0	0	0.00
Iridium	162	227	544.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.39	nil	0	0	0.00
Core	2382	5	180.08	SciCon	3738	6	354.15
Fast	0	0	0.00	PMAR	3744	17	981.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1609	0	7.60
Compass	1109	5	81.90
RAFOS	860	40	507.84
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
11.05	16386	-134.70	-1.30	0.00	537.4	598.4	476.4	211.4	2725.7	0.00	0.00	0	115.97	100.86	0.00	0.00	0.005	0.000	0.000	2879.53	2881.81	2877.25	211.69	2724.75	0	0	0	15.74	30.00	30.00
116.22	18467	-146.63	-1.32	0.00	2879.2	2881.2	2877.1	211.6	2724.2	3.18	-1.80	20	155.48	18.27	11.81	0.00	0.006	0.268	0.000	3545.62	3570.00	3521.25	1711.00	2724.19	0	0	0	15.80	15.63	30.00
336.81	32	-146.63	-1.32	80.00	3548.3	3575.1	3521.6	1710.9	2724.3	23.09	-6.42	64	341.29	0.00	0.00	0.00	0.000	0.000	0.000	3547.78	3574.94	3520.62	1710.25	2724.12	0	0	0	30.00	30.00	30.00
525.40	292	-146.63	-1.32	80.00	3547.7	3574.6	3520.8	1710.3	2724.4	32.93	-5.30	101	531.95	0.00	0.00	3.04	0.000	0.000	0.120	3547.78	3574.50	3521.06	1710.81	3909.69	0	0	0	30.00	30.00	15.81
760.47	1060	-146.63	-1.32	0.00	3547.8	3574.9	3520.8	1710.5	3910.9	49.40	-7.58	148	766.83	0.00	0.00	2.75	0.000	0.000	0.065	3548.34	3574.69	3522.00	1710.44	2724.31	0	0	0	30.00	30.00	15.91
954.26	292	-146.63	-1.32	80.00	3549.2	3575.4	3522.9	1710.5	2724.4	63.27	-7.12	168	960.04	0.00	0.00	3.02	0.000	0.000	0.119	3546.84	3574.19	3519.50	1710.62	3912.00	0	0	0	30.00	30.00	15.87
1004.23	1028	-146.63	-1.32	0.00	3548.1	3575.5	3520.6	1710.8	3910.8	67.37	-8.29	178	1016.00	0.00	0.00	2.74	0.000	0.000	0.065	3548.25	3575.94	3520.56	1711.12	2724.75	0	0	0	30.00	30.00	15.90
1199.42	32	-146.63	-1.32	0.00	3549.0	3576.8	3521.2	1710.5	2725.0	82.33	-7.59	198	1200.98	0.00	0.00	0.00	0.000	0.000	0.000	3547.47	3575.06	3519.88	1710.44	2725.94	0	0	0	30.00	30.00	30.00
1389.41	260	-146.63	-1.32	80.00	3549.0	3575.5	3522.4	1711.2	2724.3	97.06	-8.04	217	1395.23	0.00	0.00	3.01	0.000	0.000	0.121	3548.88	3576.38	3521.38	1711.31	3909.69	0	0	0	30.00	30.00	15.91
1429.41	1028	-146.63	-1.32	0.00	3547.8	3575.3	3520.3	1711.0	3909.7	100.65	-8.97	225	1435.09	0.00	0.00	2.73	0.000	0.000	0.067	3547.31	3575.06	3519.56	1710.88	2722.56	0	0	0	30.00	30.00	15.95
1615.62	260	-146.63	-1.32	80.00	3548.5	3575.2	3521.8	1711.0	2723.8	115.63	-8.21	244	1625.78	0.00	0.00	3.01	0.000	0.000	0.123	3548.06	3575.25	3520.88	1710.69	3911.00	0	0	0	30.00	30.00	15.92
1654.32	1028	-146.63	-1.32	0.00	3547.5	3575.6	3519.3	1710.7	3910.9	119.59	-8.71	252	1659.97	0.00	0.00	2.74	0.000	0.000	0.067	3549.72	3576.25	3523.19	1711.31	2727.69	0	0	0	30.00	30.00	15.97
1844.34	0	-146.63	-1.32	0.00	3549.0	3576.9	3521.1	1710.6	2727.4	135.24	-8.02	272	1845.90	0.00	0.00	0.00	0.000	0.000	0.000	3547.44	3575.38	3519.50	1710.56	2727.69	0	0	0	30.00	30.00	30.00
2027.39	260	-146.63	-1.32	80.00	3549.1	3575.7	3522.5	1710.3	2727.7	150.24	-8.26	291	2033.16	0.00	0.00	2.99	0.000	0.000	0.124	3549.31	3576.44	3522.19	1710.31	3911.69	0	0	0	30.00	30.00	15.96
2097.41	1028	-146.63	-1.32	0.00	3548.3	3575.6	3521.0	1710.4	3911.4	156.84	-9.63	305	2103.12	0.00	0.00	2.74	0.000	0.000	0.069	3549.00	3575.62	3522.38	1710.88	2728.62	0	0	0	30.00	30.00	16.00
2137	end dive: TARGET_DEPTH_EXCEEDED
state	2137	begin apogee
2138.86	10243	0.00	-0.32	0.00	3548.1	3575.1	3521.1	1710.6	2572.5	160.36	-8.75	310	2253.70	105.87	1.63	0.09	1.325	0.146	0.216	2949.78	3018.19	2881.38	1955.50	2624.56	0	0	0	12.16	15.97	15.53
2257	end apogee: CONTROL_FINISHED_OK
state	2257	begin climb
2257.28	10759	146.63	1.32	-80.00	2947.2	3013.9	2880.4	1955.0	2624.5	162.03	0.00	321	2383.28	109.83	2.62	3.70	1.264	0.094	0.131	2347.00	2429.19	2264.81	2353.25	1188.06	0	0	0	11.90	15.55	15.31
2386.04	1028	146.63	1.32	0.00	2348.2	2429.6	2266.7	2352.9	1188.4	147.96	14.49	334	2393.46	0.00	0.00	3.43	0.000	0.000	0.059	2346.69	2427.50	2265.88	2353.25	2620.38	0	0	0	30.00	30.00	15.40
2582.16	16646	146.63	1.32	80.00	2342.4	2421.8	2262.9	2353.6	2621.0	117.73	16.16	353	2587.89	0.00	0.00	3.33	0.000	0.000	0.124	2341.34	2420.75	2261.94	2354.12	3908.00	0	0	0	30.00	30.00	15.62
2666.32	17414	146.63	1.32	0.00	2340.9	2419.1	2262.8	2353.8	3910.4	101.73	16.55	370	2672.17	0.00	0.00	3.16	0.000	0.000	0.068	2339.00	2417.19	2260.81	2353.44	2578.19	0	0	0	30.00	30.00	15.69
2856.34	16386	146.63	1.32	0.00	2340.4	2419.1	2261.8	2354.6	2578.1	72.41	15.24	390	2857.92	0.00	0.00	0.00	0.000	0.000	0.000	2337.25	2415.69	2258.81	2354.00	2577.62	0	0	0	30.00	30.00	30.00
3041.36	16646	146.63	1.32	80.00	2340.2	2418.6	2261.8	2353.6	2577.5	45.07	14.30	411	3048.05	0.00	0.00	3.39	0.000	0.000	0.118	2342.16	2421.69	2262.62	2353.38	3912.19	0	0	0	30.00	30.00	15.76
3081.45	17414	146.63	1.32	0.00	2339.1	2416.1	2262.1	2354.3	3913.1	39.10	15.04	419	3088.05	0.00	0.00	3.12	0.000	0.000	0.068	2337.97	2415.69	2260.25	2353.44	2577.06	0	0	0	30.00	30.00	15.81
3271.50	16646	146.63	1.32	80.00	2339.7	2417.1	2262.3	2353.6	2577.2	13.55	13.33	457	3278.20	0.00	0.00	3.38	0.000	0.000	0.118	2339.00	2417.50	2260.50	2353.44	3910.50	0	0	0	30.00	30.00	15.83
3331.66	17414	146.63	1.32	0.00	2338.1	2413.9	2262.3	2353.8	3908.8	6.58	10.12	469	3338.18	0.00	0.00	3.11	0.000	0.000	0.067	2338.06	2414.50	2261.62	2353.31	2578.81	0	0	0	30.00	30.00	15.88
3519.91	10535	346.58	1.56	80.00	2337.6	2414.4	2260.7	2353.1	2577.6	4.42	-0.08	506	3667.14	140.51	0.34	0.00	1.119	0.075	0.000	1558.94	1650.50	1467.38	2420.88	2577.81	0	0	0	12.08	15.91	30.00
3667	end climb: SURFACE_DEPTH_REACHED
state	3667	begin surface coast
3726	end surface coast: CONTROL_FINISHED_OK
state	3726	begin surface