Glider dive log

HoodCanal 24May22.01 * 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 20 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 2950.4758 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 75 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 2023.4478 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 158.92986 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 16.046852 FG_AHR_24V 204.63416 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 158.92986 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 204.63416 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 16.046852 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 2023.4478 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 75

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 2950.4758 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 2 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 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 250522,014356,4736.863,-12255.868,1,1.7,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,014646,4736.895,-12255.822,2,1.7,5,15.5 MHEAD_RNG_PITCHd_Wd 206.1,2216,-17.1,-9.697,-20.82,2278,0.144

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,-0.026052,0.018223,-0.075724,1.055534,0.033742,0.061802,-0.070839,0.870427,-999.425049,-1129.808594,186.378540

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653446114,84.2,0,stop INTERNAL_PRESSURE 7.9469

MODEM_MSG CACST,8,0,20220525020501.372921,18,10200,34,0262,0000,246,02,02,01,04,1,025,121,0,5,1,0,150,1.4,5.02,-100,-2.02,-01,0.21,62,925,0025,0,1,00,00*13 _24V_AH 14.80,110.437

NET xm1t part outbox0001.n 902 8 _10V_AH 14.78,0.000

NET_PING 1653445991,28,1456.871948,16.000000,-0.937469 FG_AHR_24Vo 204.821

FREEZE 0.24,14.171,-1.422,0,1,0 FG_AHR_10Vo 158.975

FINISH 0.2,1.019323 MEM0 60132,1,0,0

SM_CCo 4034.31,144.66,1.098,0,541.9,605.8,478.0,590.71 MEM1 65508,1,0,0

SM_GC 1.41,144.66,13.65,0.29,1.098,0.050,0.100,541.9,605.8,478.0,216.7,2771.2,0,0,0,11.90,15.54,15.54 MEM2 942864,25,103624,79

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16115,591

IRIDIUM_FIX 4737.86,-12251.79,250522,014224 CAP_FILE_SIZE 429495,0

TCM_TEMP 13.77 SDSIZE 3918848,3882496

SC_FREEKB 3878048 SDFILEDIR 273,3

PM_FREEKB_00 62162432 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,-0.023026,-0.027122,-0.082541,1.069236,-0.012194,0.061476,-0.037835,1.022622,-955.1,-1088.1,43.9,32,0.0416,1

MODEM 0,1653444001,47.61230,-122.96660,1.364,1998.4 IMPLIED_C_PITCH 2009,15.84,261,2016.4,15.94

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_VBD 3143,28.484335,261,3047.0

HUMID 49.00 GPS 250522,025539,4736.720,-12256.028,1,0.9,25,15.5

TEMP 10.86

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1329 12767.11 nil 0 0 0.00

Pitch_motor 29 265 116.16 nil 0 0 0.00

Roll_motor 57 245 208.90 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 14 15 3.17 nil 0 0 0.00

Core 2380 5 180.17 SciCon 3855 6 366.53

Fast 0 0 0.00 PMAR 3865 17 1013.45

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1544 0 7.30

Compass 1195 5 88.32

RAFOS 861 40 509.34

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

10.92 16386 -146.63 -1.25 0.00 495.9 561.2 430.6 215.1 2769.5 0.00 0.00 0 111.95 95.93 0.00 0.00 0.005 0.000 0.000 2776.50 2774.25 2778.75 215.25 2771.88 0 0 0 15.94 30.00 30.00

112.26 18467 -146.63 -1.25 0.00 2776.5 2775.4 2777.6 215.2 2769.9 3.17 -2.11 19 151.85 19.58 11.48 0.00 0.006 0.265 0.000 3546.44 3571.75 3521.12 1720.12 2770.25 0 0 0 15.96 15.81 30.00

333.19 548 -146.63 -1.25 -80.00 3547.8 3575.6 3520.1 1720.2 2770.5 16.25 -3.99 63 346.04 0.00 0.00 3.57 0.000 0.000 0.114 3548.47 3575.88 3521.06 1720.31 1280.25 0 0 0 30.00 30.00 15.91

424.39 1060 -146.63 -1.25 0.00 3547.2 3575.7 3518.7 1719.8 1280.2 19.79 -3.83 80 430.85 0.00 0.00 3.39 0.000 0.000 0.060 3549.41 3577.50 3521.31 1719.81 2769.44 0 0 0 30.00 30.00 15.95

614.42 32 -146.63 -1.25 0.00 3549.2 3577.8 3520.6 1719.8 2768.8 26.35 -3.76 118 618.89 0.00 0.00 0.00 0.000 0.000 0.000 3548.72 3576.94 3520.50 1720.81 2769.56 0 0 0 30.00 30.00 30.00

802.85 292 -146.63 -1.25 80.00 3549.2 3578.6 3519.8 1720.4 2769.9 34.71 -4.63 154 809.05 0.00 0.00 2.79 0.000 0.000 0.118 3549.16 3577.88 3520.44 1720.56 3914.06 0 0 0 30.00 30.00 15.94

852.86 1060 -146.63 -1.25 0.00 3548.3 3577.6 3519.1 1719.9 3913.1 37.72 -5.93 164 859.04 0.00 0.00 2.71 0.000 0.000 0.062 3549.47 3577.94 3521.00 1719.56 2723.44 0 0 0 30.00 30.00 15.96

1041.36 32 -146.63 -1.25 0.00 3549.5 3577.8 3521.1 1720.1 2722.9 49.74 -6.57 201 1045.83 0.00 0.00 0.00 0.000 0.000 0.000 3549.06 3577.12 3521.00 1720.12 2723.56 0 0 0 30.00 30.00 30.00

1226.37 292 -146.63 -1.25 80.00 3547.9 3577.2 3518.7 1719.8 2723.3 62.92 -7.09 220 1231.92 0.00 0.00 2.94 0.000 0.000 0.117 3549.44 3576.62 3522.25 1719.69 3911.62 0 0 0 30.00 30.00 15.94

1356.35 1028 -146.63 -1.25 0.00 3549.0 3577.6 3520.3 1719.9 3911.8 73.77 -8.51 246 1361.88 0.00 0.00 2.72 0.000 0.000 0.065 3549.19 3577.31 3521.06 1720.44 2724.38 0 0 0 30.00 30.00 15.99

1542.32 0 -146.63 -1.25 0.00 3549.9 3578.4 3521.4 1720.1 2723.8 88.36 -8.20 265 1547.13 0.00 0.00 0.00 0.000 0.000 0.000 3548.56 3577.44 3519.69 1720.19 2724.31 0 0 0 30.00 30.00 30.00

1736.37 0 -146.63 -1.25 0.00 3548.9 3577.7 3520.1 1719.6 2724.3 104.84 -8.23 285 1737.89 0.00 0.00 0.00 0.000 0.000 0.000 3548.19 3577.62 3518.75 1719.81 2724.69 0 0 0 30.00 30.00 30.00

1926.39 260 -146.63 -1.25 80.00 3548.3 3576.9 3519.7 1720.1 2723.4 120.94 -8.56 304 1931.99 0.00 0.00 2.93 0.000 0.000 0.120 3547.81 3576.56 3519.06 1720.19 3910.94 0 0 0 30.00 30.00 15.99

1980.68 1028 -146.63 -1.25 0.00 3548.3 3576.9 3519.8 1720.1 3910.7 126.19 -9.65 315 1987.64 0.00 0.00 2.70 0.000 0.000 0.067 3548.84 3578.06 3519.62 1719.38 2726.00 0 0 0 30.00 30.00 16.03

2176.34 0 -146.63 -1.25 0.00 3548.7 3579.0 3518.4 1719.6 2725.3 143.00 -8.67 335 2186.62 0.00 0.00 0.00 0.000 0.000 0.000 3548.41 3578.06 3518.75 1719.94 2726.62 0 0 0 30.00 30.00 30.00

2257 end dive: HALF_MISSION_TIME_EXCEEDED

state 2257 begin apogee

2257.81 10243 0.00 -0.31 0.00 3548.4 3578.3 3518.6 1720.3 2573.9 149.78 -8.45 343 2372.59 105.53 1.50 0.08 1.330 0.139 0.245 2949.97 3020.00 2879.94 1948.94 2623.12 0 0 0 12.27 16.00 15.57

2376 end apogee: CONTROL_FINISHED_OK

state 2376 begin climb

2376.79 10759 146.63 1.25 -80.00 2947.0 3014.3 2879.6 1949.1 2623.1 151.79 0.00 354 2503.74 110.71 2.48 3.64 1.262 0.093 0.131 2348.50 2431.44 2265.56 2329.44 1190.19 0 0 0 12.03 15.59 15.35

2525.91 1028 146.63 1.25 0.00 2346.8 2426.8 2266.8 2328.4 1190.0 135.60 15.76 380 2531.85 0.00 0.00 3.40 0.000 0.000 0.060 2343.44 2422.44 2264.44 2329.38 2621.81 0 0 0 30.00 30.00 15.47

2715.93 16646 146.63 1.25 80.00 2342.5 2422.1 2262.9 2328.9 2621.3 107.23 14.61 400 2721.96 0.00 0.00 3.26 0.000 0.000 0.126 2339.66 2418.00 2261.31 2329.38 3908.31 0 0 0 30.00 30.00 15.64

2780.55 17414 146.63 1.25 0.00 2341.2 2419.4 2262.9 2328.6 3907.9 97.24 15.33 412 2787.01 0.00 0.00 3.12 0.000 0.000 0.068 2341.59 2420.19 2263.00 2328.62 2577.62 0 0 0 30.00 30.00 15.64

2970.51 16386 146.63 1.25 0.00 2340.9 2419.5 2262.4 2329.2 2576.9 70.18 13.77 432 2972.07 0.00 0.00 0.00 0.000 0.000 0.000 2336.69 2414.31 2259.06 2328.25 2577.44 0 0 0 30.00 30.00 30.00

3155.53 16646 146.63 1.25 80.00 2340.2 2417.9 2262.6 2328.4 2577.3 45.22 13.19 454 3162.21 0.00 0.00 3.33 0.000 0.000 0.121 2338.59 2415.44 2261.75 2328.88 3910.94 0 0 0 30.00 30.00 15.82

3195.60 17414 146.63 1.25 0.00 2339.0 2415.6 2262.4 2328.2 3910.4 39.78 13.72 462 3202.15 0.00 0.00 3.08 0.000 0.000 0.069 2338.56 2415.88 2261.25 2328.50 2575.56 0 0 0 30.00 30.00 15.86

3384.42 16646 146.63 1.25 80.00 2338.6 2415.4 2261.9 2328.6 2577.2 16.03 11.31 499 3391.05 0.00 0.00 3.30 0.000 0.000 0.121 2336.97 2412.25 2261.69 2329.06 3910.69 0 0 0 30.00 30.00 15.86

3434.45 17414 146.63 1.25 0.00 2338.0 2414.1 2261.9 2329.9 3910.8 10.30 11.45 509 3440.99 0.00 0.00 3.06 0.000 0.000 0.068 2336.47 2413.69 2259.25 2328.62 2576.00 0 0 0 30.00 30.00 15.90

3624.61 10791 342.70 1.49 -80.00 2337.3 2413.8 2260.9 2328.6 2574.8 4.69 0.89 547 3778.50 141.22 0.32 3.49 1.136 0.069 0.134 1548.75 1639.25 1458.25 2394.19 1187.69 0 0 0 12.03 15.95 15.45

3782.08 11303 470.43 1.64 0.00 1549.6 1640.2 1458.9 2393.9 1187.5 3.01 3.96 577 3820.45 31.08 0.17 3.39 1.041 0.095 0.057 1389.62 1483.31 1295.94 2433.44 2629.25 0 0 0 11.84 15.51 15.52

3821 end climb: SURFACE_DEPTH_REACHED

state 3821 begin surface coast

3854 end surface coast: CONTROL_FINISHED_OK

state 3854 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	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	2950.4758	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	75	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	2023.4478	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	158.92986	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	16.046852	FG_AHR_24V	204.63416	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	250522,014356,4736.863,-12255.868,1,1.7,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,014646,4736.895,-12255.822,2,1.7,5,15.5	MHEAD_RNG_PITCHd_Wd	206.1,2216,-17.1,-9.697,-20.82,2278,0.144
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.026052,0.018223,-0.075724,1.055534,0.033742,0.061802,-0.070839,0.870427,-999.425049,-1129.808594,186.378540
TGT_LATLONG	4736.000,-12257.000

NAV	1653446114,84.2,0,stop	INTERNAL_PRESSURE	7.9469
MODEM_MSG	CACST,8,0,20220525020501.372921,18,10200,34,0262,0000,246,02,02,01,04,1,025,121,0,5,1,0,150,1.4,5.02,-100,-2.02,-01,0.21,62,925,0025,0,1,00,00*13	_24V_AH	14.80,110.437
NET	xm1t part outbox0001.n 902 8	_10V_AH	14.78,0.000
NET_PING	1653445991,28,1456.871948,16.000000,-0.937469	FG_AHR_24Vo	204.821
FREEZE	0.24,14.171,-1.422,0,1,0	FG_AHR_10Vo	158.975
FINISH	0.2,1.019323	MEM0	60132,1,0,0
SM_CCo	4034.31,144.66,1.098,0,541.9,605.8,478.0,590.71	MEM1	65508,1,0,0
SM_GC	1.41,144.66,13.65,0.29,1.098,0.050,0.100,541.9,605.8,478.0,216.7,2771.2,0,0,0,11.90,15.54,15.54	MEM2	942864,25,103624,79
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16115,591
IRIDIUM_FIX	4737.86,-12251.79,250522,014224	CAP_FILE_SIZE	429495,0
TCM_TEMP	13.77	SDSIZE	3918848,3882496
SC_FREEKB	3878048	SDFILEDIR	273,3
PM_FREEKB_00	62162432	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,-0.023026,-0.027122,-0.082541,1.069236,-0.012194,0.061476,-0.037835,1.022622,-955.1,-1088.1,43.9,32,0.0416,1
MODEM	0,1653444001,47.61230,-122.96660,1.364,1998.4	IMPLIED_C_PITCH	2009,15.84,261,2016.4,15.94
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_VBD	3143,28.484335,261,3047.0
HUMID	49.00	GPS	250522,025539,4736.720,-12256.028,1,0.9,25,15.5
TEMP	10.86

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1329	12767.11	nil	0	0	0.00
Pitch_motor	29	265	116.16	nil	0	0	0.00
Roll_motor	57	245	208.90	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	14	15	3.17	nil	0	0	0.00
Core	2380	5	180.17	SciCon	3855	6	366.53
Fast	0	0	0.00	PMAR	3865	17	1013.45
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1544	0	7.30
Compass	1195	5	88.32
RAFOS	861	40	509.34
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
10.92	16386	-146.63	-1.25	0.00	495.9	561.2	430.6	215.1	2769.5	0.00	0.00	0	111.95	95.93	0.00	0.00	0.005	0.000	0.000	2776.50	2774.25	2778.75	215.25	2771.88	0	0	0	15.94	30.00	30.00
112.26	18467	-146.63	-1.25	0.00	2776.5	2775.4	2777.6	215.2	2769.9	3.17	-2.11	19	151.85	19.58	11.48	0.00	0.006	0.265	0.000	3546.44	3571.75	3521.12	1720.12	2770.25	0	0	0	15.96	15.81	30.00
333.19	548	-146.63	-1.25	-80.00	3547.8	3575.6	3520.1	1720.2	2770.5	16.25	-3.99	63	346.04	0.00	0.00	3.57	0.000	0.000	0.114	3548.47	3575.88	3521.06	1720.31	1280.25	0	0	0	30.00	30.00	15.91
424.39	1060	-146.63	-1.25	0.00	3547.2	3575.7	3518.7	1719.8	1280.2	19.79	-3.83	80	430.85	0.00	0.00	3.39	0.000	0.000	0.060	3549.41	3577.50	3521.31	1719.81	2769.44	0	0	0	30.00	30.00	15.95
614.42	32	-146.63	-1.25	0.00	3549.2	3577.8	3520.6	1719.8	2768.8	26.35	-3.76	118	618.89	0.00	0.00	0.00	0.000	0.000	0.000	3548.72	3576.94	3520.50	1720.81	2769.56	0	0	0	30.00	30.00	30.00
802.85	292	-146.63	-1.25	80.00	3549.2	3578.6	3519.8	1720.4	2769.9	34.71	-4.63	154	809.05	0.00	0.00	2.79	0.000	0.000	0.118	3549.16	3577.88	3520.44	1720.56	3914.06	0	0	0	30.00	30.00	15.94
852.86	1060	-146.63	-1.25	0.00	3548.3	3577.6	3519.1	1719.9	3913.1	37.72	-5.93	164	859.04	0.00	0.00	2.71	0.000	0.000	0.062	3549.47	3577.94	3521.00	1719.56	2723.44	0	0	0	30.00	30.00	15.96
1041.36	32	-146.63	-1.25	0.00	3549.5	3577.8	3521.1	1720.1	2722.9	49.74	-6.57	201	1045.83	0.00	0.00	0.00	0.000	0.000	0.000	3549.06	3577.12	3521.00	1720.12	2723.56	0	0	0	30.00	30.00	30.00
1226.37	292	-146.63	-1.25	80.00	3547.9	3577.2	3518.7	1719.8	2723.3	62.92	-7.09	220	1231.92	0.00	0.00	2.94	0.000	0.000	0.117	3549.44	3576.62	3522.25	1719.69	3911.62	0	0	0	30.00	30.00	15.94
1356.35	1028	-146.63	-1.25	0.00	3549.0	3577.6	3520.3	1719.9	3911.8	73.77	-8.51	246	1361.88	0.00	0.00	2.72	0.000	0.000	0.065	3549.19	3577.31	3521.06	1720.44	2724.38	0	0	0	30.00	30.00	15.99
1542.32	0	-146.63	-1.25	0.00	3549.9	3578.4	3521.4	1720.1	2723.8	88.36	-8.20	265	1547.13	0.00	0.00	0.00	0.000	0.000	0.000	3548.56	3577.44	3519.69	1720.19	2724.31	0	0	0	30.00	30.00	30.00
1736.37	0	-146.63	-1.25	0.00	3548.9	3577.7	3520.1	1719.6	2724.3	104.84	-8.23	285	1737.89	0.00	0.00	0.00	0.000	0.000	0.000	3548.19	3577.62	3518.75	1719.81	2724.69	0	0	0	30.00	30.00	30.00
1926.39	260	-146.63	-1.25	80.00	3548.3	3576.9	3519.7	1720.1	2723.4	120.94	-8.56	304	1931.99	0.00	0.00	2.93	0.000	0.000	0.120	3547.81	3576.56	3519.06	1720.19	3910.94	0	0	0	30.00	30.00	15.99
1980.68	1028	-146.63	-1.25	0.00	3548.3	3576.9	3519.8	1720.1	3910.7	126.19	-9.65	315	1987.64	0.00	0.00	2.70	0.000	0.000	0.067	3548.84	3578.06	3519.62	1719.38	2726.00	0	0	0	30.00	30.00	16.03
2176.34	0	-146.63	-1.25	0.00	3548.7	3579.0	3518.4	1719.6	2725.3	143.00	-8.67	335	2186.62	0.00	0.00	0.00	0.000	0.000	0.000	3548.41	3578.06	3518.75	1719.94	2726.62	0	0	0	30.00	30.00	30.00
2257	end dive: HALF_MISSION_TIME_EXCEEDED
state	2257	begin apogee
2257.81	10243	0.00	-0.31	0.00	3548.4	3578.3	3518.6	1720.3	2573.9	149.78	-8.45	343	2372.59	105.53	1.50	0.08	1.330	0.139	0.245	2949.97	3020.00	2879.94	1948.94	2623.12	0	0	0	12.27	16.00	15.57
2376	end apogee: CONTROL_FINISHED_OK
state	2376	begin climb
2376.79	10759	146.63	1.25	-80.00	2947.0	3014.3	2879.6	1949.1	2623.1	151.79	0.00	354	2503.74	110.71	2.48	3.64	1.262	0.093	0.131	2348.50	2431.44	2265.56	2329.44	1190.19	0	0	0	12.03	15.59	15.35
2525.91	1028	146.63	1.25	0.00	2346.8	2426.8	2266.8	2328.4	1190.0	135.60	15.76	380	2531.85	0.00	0.00	3.40	0.000	0.000	0.060	2343.44	2422.44	2264.44	2329.38	2621.81	0	0	0	30.00	30.00	15.47
2715.93	16646	146.63	1.25	80.00	2342.5	2422.1	2262.9	2328.9	2621.3	107.23	14.61	400	2721.96	0.00	0.00	3.26	0.000	0.000	0.126	2339.66	2418.00	2261.31	2329.38	3908.31	0	0	0	30.00	30.00	15.64
2780.55	17414	146.63	1.25	0.00	2341.2	2419.4	2262.9	2328.6	3907.9	97.24	15.33	412	2787.01	0.00	0.00	3.12	0.000	0.000	0.068	2341.59	2420.19	2263.00	2328.62	2577.62	0	0	0	30.00	30.00	15.64
2970.51	16386	146.63	1.25	0.00	2340.9	2419.5	2262.4	2329.2	2576.9	70.18	13.77	432	2972.07	0.00	0.00	0.00	0.000	0.000	0.000	2336.69	2414.31	2259.06	2328.25	2577.44	0	0	0	30.00	30.00	30.00
3155.53	16646	146.63	1.25	80.00	2340.2	2417.9	2262.6	2328.4	2577.3	45.22	13.19	454	3162.21	0.00	0.00	3.33	0.000	0.000	0.121	2338.59	2415.44	2261.75	2328.88	3910.94	0	0	0	30.00	30.00	15.82
3195.60	17414	146.63	1.25	0.00	2339.0	2415.6	2262.4	2328.2	3910.4	39.78	13.72	462	3202.15	0.00	0.00	3.08	0.000	0.000	0.069	2338.56	2415.88	2261.25	2328.50	2575.56	0	0	0	30.00	30.00	15.86
3384.42	16646	146.63	1.25	80.00	2338.6	2415.4	2261.9	2328.6	2577.2	16.03	11.31	499	3391.05	0.00	0.00	3.30	0.000	0.000	0.121	2336.97	2412.25	2261.69	2329.06	3910.69	0	0	0	30.00	30.00	15.86
3434.45	17414	146.63	1.25	0.00	2338.0	2414.1	2261.9	2329.9	3910.8	10.30	11.45	509	3440.99	0.00	0.00	3.06	0.000	0.000	0.068	2336.47	2413.69	2259.25	2328.62	2576.00	0	0	0	30.00	30.00	15.90
3624.61	10791	342.70	1.49	-80.00	2337.3	2413.8	2260.9	2328.6	2574.8	4.69	0.89	547	3778.50	141.22	0.32	3.49	1.136	0.069	0.134	1548.75	1639.25	1458.25	2394.19	1187.69	0	0	0	12.03	15.95	15.45
3782.08	11303	470.43	1.64	0.00	1549.6	1640.2	1458.9	2393.9	1187.5	3.01	3.96	577	3820.45	31.08	0.17	3.39	1.041	0.095	0.057	1389.62	1483.31	1295.94	2433.44	2629.25	0	0	0	11.84	15.51	15.52
3821	end climb: SURFACE_DEPTH_REACHED
state	3821	begin surface coast
3854	end surface coast: CONTROL_FINISHED_OK
state	3854	begin surface