Glider dive log

HoodCanal 21May22.01 * SG235 * Dive index * Mission links * Dive 2 * 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 16 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 2 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950.3301 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 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 165 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 55 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 2016.0352 MAXI_24V 2 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 157.38947 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 16.219912 FG_AHR_24V 198.18413 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 -158.48517 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 157.38947 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 198.18413 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 16.219912 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 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 2016.0352 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 -158.48517 T_TURN 225

C_VBD 2950.3301 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 2 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 16 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 2 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 165 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 2 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 210522,215540,4736.283,-12256.879,2,0.8,3,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,220013,4736.257,-12256.894,2,0.8,3,15.5 MHEAD_RNG_PITCHd_Wd 8.6,1507,-17.1,-9.697,-20.82,2278,0.147

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,0,20220521225009.533257,06,1708,32,0136,0150,149,02,02,00,02,1,025,235,0,5,1,0,150,8.4,3.00,-100,0.00,-01,0.06,57,10000,5000,0,-1,00,00*4B INTERNAL_PRESSURE 7.92102

NET_PING 1653173411,25,1745.215454,8.400000,0.009752 _24V_AH 14.81,103.984

NAV 1653174155,0.4,start _10V_AH 14.77,0.000

FREEZE 0.40,13.630,-1.481,0,1,0 FG_AHR_24Vo 198.376

FINISH 0.4,1.020234 FG_AHR_10Vo 157.441

SM_CCo 3704.53,306.47,1.134,0,541.7,619.1,464.2,590.76 MEM0 60148,1,0,0

SM_GC 1.66,306.47,12.69,3.53,1.134,0.056,0.068,541.7,619.1,464.2,217.8,2772.9,0,0,0,11.94,15.95,15.97 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 942948,28,103440,81

IRIDIUM_FIX 4735.53,-12254.47,210522,215426 DATA_FILE_SIZE 12924,464

TCM_TEMP 13.01 CAP_FILE_SIZE 362933,0

SC_FREEKB 3878048 SDSIZE 3918848,3885216

PM_FREEKB_00 62182016 SDFILEDIR 250,3

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1411.9

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2000,15.81,265,2008.2,16.02

HUMID 48.77 IMPLIED_C_VBD 3055,22.725687,265,3002.8

TEMP 10.39 GPS 210522,230322,4736.585,-12256.596,1,1.2,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 647 1354 12990.21 nil 0 0 0.00

Pitch_motor 28 263 109.25 nil 0 0 0.00

Roll_motor 61 243 220.53 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 12 15 2.85 nil 0 0 0.00

Core 1853 5 140.15 SciCon 3349 6 340.17

Fast 0 0 0.00 PMAR 3360 17 876.02

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1565 0 7.40

Compass 951 5 70.24

RAFOS 2204 40 1302.30

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

11.08 16386 -146.63 -1.23 0.00 539.9 610.9 468.9 215.2 2771.4 0.00 0.00 0 131.69 114.64 0.00 0.00 0.005 0.000 0.000 3190.66 3195.75 3185.56 215.38 2771.06 0 0 0 15.27 30.00 30.00

132.01 18727 -146.63 -1.23 80.00 3189.9 3194.9 3184.9 215.4 2770.8 3.10 -1.25 22 167.50 9.90 11.35 2.73 0.007 0.263 0.130 3546.72 3575.06 3518.38 1717.12 3911.62 0 0 0 15.93 15.79 15.85

200.84 1028 -146.63 -1.23 0.00 3546.6 3575.4 3517.9 1716.7 3911.9 11.40 -11.92 35 207.05 0.00 0.00 2.70 0.000 0.000 0.069 3548.69 3577.44 3519.94 1716.69 2724.69 0 0 0 30.00 30.00 15.89

390.85 516 -146.63 -1.23 -80.00 3549.3 3580.9 3517.7 1716.9 2724.9 27.30 -7.90 73 397.42 0.00 0.00 3.45 0.000 0.000 0.125 3548.38 3578.75 3518.00 1716.81 1280.75 0 0 0 30.00 30.00 15.87

435.85 1028 -146.63 -1.23 0.00 3548.9 3580.1 3517.8 1717.1 1280.3 31.21 -8.78 82 442.38 0.00 0.00 3.37 0.000 0.000 0.066 3549.41 3580.25 3518.56 1716.62 2769.06 0 0 0 30.00 30.00 15.90

623.67 292 -146.63 -1.23 80.00 3548.9 3579.5 3518.2 1716.3 2769.1 45.08 -7.21 119 629.90 0.00 0.00 2.73 0.000 0.000 0.125 3549.88 3579.38 3520.38 1717.12 3912.56 0 0 0 30.00 30.00 15.88

678.64 1028 -146.63 -1.23 0.00 3548.4 3579.2 3517.7 1717.4 3912.5 49.59 -8.32 130 684.86 0.00 0.00 2.68 0.000 0.000 0.068 3548.97 3580.19 3517.75 1717.31 2724.00 0 0 0 30.00 30.00 15.91

873.68 0 -146.63 -1.23 0.00 3549.7 3580.4 3518.9 1717.8 2723.4 64.87 -8.01 150 875.21 0.00 0.00 0.00 0.000 0.000 0.000 3549.09 3579.12 3519.06 1716.38 2724.81 0 0 0 30.00 30.00 30.00

1063.65 260 -146.63 -1.23 80.00 3549.2 3579.4 3518.9 1717.1 2723.4 81.48 -9.01 169 1069.23 0.00 0.00 2.84 0.000 0.000 0.124 3549.69 3579.50 3519.88 1716.38 3913.38 0 0 0 30.00 30.00 15.90

1103.67 1028 -146.63 -1.23 0.00 3548.7 3579.4 3517.9 1716.6 3913.1 85.42 -9.82 177 1109.16 0.00 0.00 2.69 0.000 0.000 0.069 3550.25 3581.56 3518.94 1716.81 2722.19 0 0 0 30.00 30.00 15.93

1293.69 0 -146.63 -1.23 0.00 3549.9 3579.4 3520.4 1716.8 2721.4 103.23 -9.70 197 1295.21 0.00 0.00 0.00 0.000 0.000 0.000 3548.16 3578.50 3517.81 1716.94 2721.62 0 0 0 30.00 30.00 30.00

1483.69 0 -146.63 -1.23 0.00 3549.4 3579.1 3519.6 1717.2 2722.0 120.88 -9.07 216 1485.21 0.00 0.00 0.00 0.000 0.000 0.000 3547.94 3578.19 3517.69 1717.31 2721.81 0 0 0 30.00 30.00 30.00

1673.70 0 -146.63 -1.23 0.00 3547.7 3577.8 3517.7 1716.4 2722.1 138.29 -9.14 235 1675.23 0.00 0.00 0.00 0.000 0.000 0.000 3548.25 3578.50 3518.00 1717.12 2721.25 0 0 0 30.00 30.00 30.00

1863.70 260 -146.63 -1.23 80.00 3548.6 3579.6 3517.7 1717.5 2721.8 156.33 -9.56 254 1869.45 0.00 0.00 2.85 0.000 0.000 0.126 3548.94 3579.38 3518.50 1718.06 3913.19 0 0 0 30.00 30.00 15.91

1904 end dive: TARGET_DEPTH_EXCEEDED

state 1904 begin apogee

1908.83 10243 0.00 -0.31 0.00 3549.2 3580.1 3518.3 1717.1 2577.0 160.47 -10.51 262 2021.66 106.11 1.51 0.07 1.354 0.153 0.244 2948.12 3013.12 2883.12 1941.88 2623.69 0 0 0 12.04 15.90 15.47

2026 end apogee: CONTROL_FINISHED_OK

state 2026 begin climb

2026.57 10243 146.63 1.23 0.00 2947.7 3011.8 2883.7 1941.8 2622.9 163.75 0.00 273 2146.47 110.50 2.49 0.00 1.297 0.101 0.000 2349.38 2428.75 2270.00 2320.00 2623.69 0 0 0 11.83 15.49 30.00

2330.48 16646 146.63 1.23 80.00 2343.6 2420.4 2266.9 2319.3 2622.2 127.43 14.26 305 2336.11 0.00 0.00 3.14 0.000 0.000 0.123 2342.66 2418.19 2267.12 2319.12 3908.75 0 0 0 30.00 30.00 15.64

2362.54 17414 146.63 1.23 0.00 2342.9 2418.8 2267.1 2318.5 3910.2 122.59 15.20 311 2368.21 0.00 0.00 3.08 0.000 0.000 0.071 2345.72 2421.81 2269.62 2318.62 2578.50 0 0 0 30.00 30.00 15.67

2552.62 16646 146.63 1.23 80.00 2341.3 2416.6 2266.1 2318.4 2579.7 95.57 14.10 331 2558.36 0.00 0.00 3.21 0.000 0.000 0.124 2344.75 2420.81 2268.69 2319.00 3911.38 0 0 0 30.00 30.00 15.76

2586.90 17414 146.63 1.23 0.00 2341.2 2416.6 2265.8 2318.0 3912.1 90.49 14.69 338 2594.01 0.00 0.00 3.06 0.000 0.000 0.071 2341.62 2415.69 2267.56 2318.50 2579.12 0 0 0 30.00 30.00 15.81

2782.71 16646 146.63 1.23 80.00 2340.6 2415.7 2265.6 2318.9 2578.8 63.81 13.26 358 2788.61 0.00 0.00 3.20 0.000 0.000 0.124 2342.38 2419.19 2265.56 2318.44 3912.50 0 0 0 30.00 30.00 15.83

2816.99 17414 146.63 1.23 0.00 2340.0 2414.8 2265.2 2318.7 3911.2 58.86 14.25 365 2824.26 0.00 0.00 3.04 0.000 0.000 0.071 2341.03 2415.00 2267.06 2319.81 2577.62 0 0 0 30.00 30.00 15.88

3004.76 16646 146.63 1.23 80.00 2340.3 2414.9 2265.8 2319.4 2577.1 34.62 12.48 395 3011.35 0.00 0.00 3.20 0.000 0.000 0.125 2340.00 2416.19 2263.81 2319.19 3910.56 0 0 0 30.00 30.00 15.87

3044.76 17414 146.63 1.23 0.00 2340.0 2414.2 2265.8 2318.8 3911.2 29.36 13.14 403 3051.31 0.00 0.00 3.04 0.000 0.000 0.071 2339.25 2413.31 2265.19 2318.62 2578.19 0 0 0 30.00 30.00 15.92

3234.88 16902 146.63 1.23 -80.00 2339.6 2414.0 2265.2 2318.2 2578.0 9.36 8.50 441 3241.52 0.00 0.00 3.36 0.000 0.000 0.138 2338.44 2412.75 2264.12 2318.88 1189.19 0 0 0 30.00 30.00 15.90

3320 end climb: SURFACE_DEPTH_REACHED

state 3320 begin surface coast

3350 end surface coast: CONTROL_FINISHED_OK

state 3350 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	16	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	2	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950.3301	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	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	165	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	55	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	2016.0352	MAXI_24V	2	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	157.38947	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	16.219912	FG_AHR_24V	198.18413	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	-158.48517	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	210522,215540,4736.283,-12256.879,2,0.8,3,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,220013,4736.257,-12256.894,2,0.8,3,15.5	MHEAD_RNG_PITCHd_Wd	8.6,1507,-17.1,-9.697,-20.82,2278,0.147
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
TGT_LATLONG	4737.000,-12256.400

NET	CACST,8,0,20220521225009.533257,06,1708,32,0136,0150,149,02,02,00,02,1,025,235,0,5,1,0,150,8.4,3.00,-100,0.00,-01,0.06,57,10000,5000,0,-1,00,00*4B	INTERNAL_PRESSURE	7.92102
NET_PING	1653173411,25,1745.215454,8.400000,0.009752	_24V_AH	14.81,103.984
NAV	1653174155,0.4,start	_10V_AH	14.77,0.000
FREEZE	0.40,13.630,-1.481,0,1,0	FG_AHR_24Vo	198.376
FINISH	0.4,1.020234	FG_AHR_10Vo	157.441
SM_CCo	3704.53,306.47,1.134,0,541.7,619.1,464.2,590.76	MEM0	60148,1,0,0
SM_GC	1.66,306.47,12.69,3.53,1.134,0.056,0.068,541.7,619.1,464.2,217.8,2772.9,0,0,0,11.94,15.95,15.97	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	942948,28,103440,81
IRIDIUM_FIX	4735.53,-12254.47,210522,215426	DATA_FILE_SIZE	12924,464
TCM_TEMP	13.01	CAP_FILE_SIZE	362933,0
SC_FREEKB	3878048	SDSIZE	3918848,3885216
PM_FREEKB_00	62182016	SDFILEDIR	250,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1411.9
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2000,15.81,265,2008.2,16.02
HUMID	48.77	IMPLIED_C_VBD	3055,22.725687,265,3002.8
TEMP	10.39	GPS	210522,230322,4736.585,-12256.596,1,1.2,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	647	1354	12990.21	nil	0	0	0.00
Pitch_motor	28	263	109.25	nil	0	0	0.00
Roll_motor	61	243	220.53	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	12	15	2.85	nil	0	0	0.00
Core	1853	5	140.15	SciCon	3349	6	340.17
Fast	0	0	0.00	PMAR	3360	17	876.02
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1565	0	7.40
Compass	951	5	70.24
RAFOS	2204	40	1302.30
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
11.08	16386	-146.63	-1.23	0.00	539.9	610.9	468.9	215.2	2771.4	0.00	0.00	0	131.69	114.64	0.00	0.00	0.005	0.000	0.000	3190.66	3195.75	3185.56	215.38	2771.06	0	0	0	15.27	30.00	30.00
132.01	18727	-146.63	-1.23	80.00	3189.9	3194.9	3184.9	215.4	2770.8	3.10	-1.25	22	167.50	9.90	11.35	2.73	0.007	0.263	0.130	3546.72	3575.06	3518.38	1717.12	3911.62	0	0	0	15.93	15.79	15.85
200.84	1028	-146.63	-1.23	0.00	3546.6	3575.4	3517.9	1716.7	3911.9	11.40	-11.92	35	207.05	0.00	0.00	2.70	0.000	0.000	0.069	3548.69	3577.44	3519.94	1716.69	2724.69	0	0	0	30.00	30.00	15.89
390.85	516	-146.63	-1.23	-80.00	3549.3	3580.9	3517.7	1716.9	2724.9	27.30	-7.90	73	397.42	0.00	0.00	3.45	0.000	0.000	0.125	3548.38	3578.75	3518.00	1716.81	1280.75	0	0	0	30.00	30.00	15.87
435.85	1028	-146.63	-1.23	0.00	3548.9	3580.1	3517.8	1717.1	1280.3	31.21	-8.78	82	442.38	0.00	0.00	3.37	0.000	0.000	0.066	3549.41	3580.25	3518.56	1716.62	2769.06	0	0	0	30.00	30.00	15.90
623.67	292	-146.63	-1.23	80.00	3548.9	3579.5	3518.2	1716.3	2769.1	45.08	-7.21	119	629.90	0.00	0.00	2.73	0.000	0.000	0.125	3549.88	3579.38	3520.38	1717.12	3912.56	0	0	0	30.00	30.00	15.88
678.64	1028	-146.63	-1.23	0.00	3548.4	3579.2	3517.7	1717.4	3912.5	49.59	-8.32	130	684.86	0.00	0.00	2.68	0.000	0.000	0.068	3548.97	3580.19	3517.75	1717.31	2724.00	0	0	0	30.00	30.00	15.91
873.68	0	-146.63	-1.23	0.00	3549.7	3580.4	3518.9	1717.8	2723.4	64.87	-8.01	150	875.21	0.00	0.00	0.00	0.000	0.000	0.000	3549.09	3579.12	3519.06	1716.38	2724.81	0	0	0	30.00	30.00	30.00
1063.65	260	-146.63	-1.23	80.00	3549.2	3579.4	3518.9	1717.1	2723.4	81.48	-9.01	169	1069.23	0.00	0.00	2.84	0.000	0.000	0.124	3549.69	3579.50	3519.88	1716.38	3913.38	0	0	0	30.00	30.00	15.90
1103.67	1028	-146.63	-1.23	0.00	3548.7	3579.4	3517.9	1716.6	3913.1	85.42	-9.82	177	1109.16	0.00	0.00	2.69	0.000	0.000	0.069	3550.25	3581.56	3518.94	1716.81	2722.19	0	0	0	30.00	30.00	15.93
1293.69	0	-146.63	-1.23	0.00	3549.9	3579.4	3520.4	1716.8	2721.4	103.23	-9.70	197	1295.21	0.00	0.00	0.00	0.000	0.000	0.000	3548.16	3578.50	3517.81	1716.94	2721.62	0	0	0	30.00	30.00	30.00
1483.69	0	-146.63	-1.23	0.00	3549.4	3579.1	3519.6	1717.2	2722.0	120.88	-9.07	216	1485.21	0.00	0.00	0.00	0.000	0.000	0.000	3547.94	3578.19	3517.69	1717.31	2721.81	0	0	0	30.00	30.00	30.00
1673.70	0	-146.63	-1.23	0.00	3547.7	3577.8	3517.7	1716.4	2722.1	138.29	-9.14	235	1675.23	0.00	0.00	0.00	0.000	0.000	0.000	3548.25	3578.50	3518.00	1717.12	2721.25	0	0	0	30.00	30.00	30.00
1863.70	260	-146.63	-1.23	80.00	3548.6	3579.6	3517.7	1717.5	2721.8	156.33	-9.56	254	1869.45	0.00	0.00	2.85	0.000	0.000	0.126	3548.94	3579.38	3518.50	1718.06	3913.19	0	0	0	30.00	30.00	15.91
1904	end dive: TARGET_DEPTH_EXCEEDED
state	1904	begin apogee
1908.83	10243	0.00	-0.31	0.00	3549.2	3580.1	3518.3	1717.1	2577.0	160.47	-10.51	262	2021.66	106.11	1.51	0.07	1.354	0.153	0.244	2948.12	3013.12	2883.12	1941.88	2623.69	0	0	0	12.04	15.90	15.47
2026	end apogee: CONTROL_FINISHED_OK
state	2026	begin climb
2026.57	10243	146.63	1.23	0.00	2947.7	3011.8	2883.7	1941.8	2622.9	163.75	0.00	273	2146.47	110.50	2.49	0.00	1.297	0.101	0.000	2349.38	2428.75	2270.00	2320.00	2623.69	0	0	0	11.83	15.49	30.00
2330.48	16646	146.63	1.23	80.00	2343.6	2420.4	2266.9	2319.3	2622.2	127.43	14.26	305	2336.11	0.00	0.00	3.14	0.000	0.000	0.123	2342.66	2418.19	2267.12	2319.12	3908.75	0	0	0	30.00	30.00	15.64
2362.54	17414	146.63	1.23	0.00	2342.9	2418.8	2267.1	2318.5	3910.2	122.59	15.20	311	2368.21	0.00	0.00	3.08	0.000	0.000	0.071	2345.72	2421.81	2269.62	2318.62	2578.50	0	0	0	30.00	30.00	15.67
2552.62	16646	146.63	1.23	80.00	2341.3	2416.6	2266.1	2318.4	2579.7	95.57	14.10	331	2558.36	0.00	0.00	3.21	0.000	0.000	0.124	2344.75	2420.81	2268.69	2319.00	3911.38	0	0	0	30.00	30.00	15.76
2586.90	17414	146.63	1.23	0.00	2341.2	2416.6	2265.8	2318.0	3912.1	90.49	14.69	338	2594.01	0.00	0.00	3.06	0.000	0.000	0.071	2341.62	2415.69	2267.56	2318.50	2579.12	0	0	0	30.00	30.00	15.81
2782.71	16646	146.63	1.23	80.00	2340.6	2415.7	2265.6	2318.9	2578.8	63.81	13.26	358	2788.61	0.00	0.00	3.20	0.000	0.000	0.124	2342.38	2419.19	2265.56	2318.44	3912.50	0	0	0	30.00	30.00	15.83
2816.99	17414	146.63	1.23	0.00	2340.0	2414.8	2265.2	2318.7	3911.2	58.86	14.25	365	2824.26	0.00	0.00	3.04	0.000	0.000	0.071	2341.03	2415.00	2267.06	2319.81	2577.62	0	0	0	30.00	30.00	15.88
3004.76	16646	146.63	1.23	80.00	2340.3	2414.9	2265.8	2319.4	2577.1	34.62	12.48	395	3011.35	0.00	0.00	3.20	0.000	0.000	0.125	2340.00	2416.19	2263.81	2319.19	3910.56	0	0	0	30.00	30.00	15.87
3044.76	17414	146.63	1.23	0.00	2340.0	2414.2	2265.8	2318.8	3911.2	29.36	13.14	403	3051.31	0.00	0.00	3.04	0.000	0.000	0.071	2339.25	2413.31	2265.19	2318.62	2578.19	0	0	0	30.00	30.00	15.92
3234.88	16902	146.63	1.23	-80.00	2339.6	2414.0	2265.2	2318.2	2578.0	9.36	8.50	441	3241.52	0.00	0.00	3.36	0.000	0.000	0.138	2338.44	2412.75	2264.12	2318.88	1189.19	0	0	0	30.00	30.00	15.90
3320	end climb: SURFACE_DEPTH_REACHED
state	3320	begin surface coast
3350	end surface coast: CONTROL_FINISHED_OK
state	3350	begin surface