Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 3 * 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 3 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 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 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 158.9762 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.941657 FG_AHR_24V 204.83125 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 158.9762 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 204.83125 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.941657 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 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 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 3 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 250522,025539,4736.720,-12256.028,1,0.9,25,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,025951,4736.764,-12255.952,2,0.7,5,15.5 MHEAD_RNG_PITCHd_Wd 207.3,1928,-17.1,-9.697,-20.82,2278,0.145

SPEED_LIMITS 0.168,0.255 D_GRID 169

TGT_NAME S IRON 1.000000,-0.023026,-0.027122,-0.082541,1.069236,-0.012194,0.061476,-0.037835,1.022622,-955.056091,-1088.127808,43.880676

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653451676,0.2,0,stop TEMP 10.82

MODEM_MSG CACST,8,1,20220525030500.746575,18,32767,45,0157,0000,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-29.4,0.42,-100,2.58,-01,0.03,58,925,0025,0,-1,00,00*16 INTERNAL_PRESSURE 7.94792

NET xm1t part outbox0002.n 933 10 _24V_AH 14.80,110.675

NET_PING 1653450792,28,436.585480,11.700000,0.425865 _10V_AH 14.78,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 205.019

FREEZE 0.15,14.565,-1.021,0,1,0 FG_AHR_10Vo 159.026

FINISH 0.1,1.013652 MEM0 60132,1,0,0

SM_CCo 4045.73,136.41,1.105,0,541.6,607.3,475.8,590.79 MEM1 65508,1,0,0

SM_GC 1.49,136.41,13.83,0.44,1.105,0.055,0.086,541.6,607.3,475.8,215.1,2771.4,0,0,0,11.98,15.58,15.59 MEM2 942844,27,103604,79

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16149,572

IRIDIUM_FIX 4735.53,-12254.47,250522,014434 CAP_FILE_SIZE 406692,0

TCM_TEMP 13.64 SDSIZE 3918848,3882144

SC_FREEKB 3877728 SDFILEDIR 283,3

PM_FREEKB_00 62071296 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 MAGCAL 1.000000,-0.026193,-0.027332,-0.089737,1.076743,-0.038485,0.059152,-0.036609,1.069626,-958.0,-1066.9,3.8,33,0.0383,1

MODEM 1,1653447900,47.60000,-122.95000,0.747,1093.7 IMPLIED_C_PITCH 2009,15.74,282,2019.4,15.84

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_VBD 3135,24.331612,282,3042.3

HUMID 48.95 GPS 250522,040836,4736.523,-12256.275,1,1.2,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 647 1336 12809.01 nil 0 0 0.00

Pitch_motor 30 272 122.04 nil 0 0 0.00

Roll_motor 62 242 223.00 nil 0 0 0.00

Iridium 160 223 529.82 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.91 nil 0 0 0.00

Core 2563 5 193.97 SciCon 3888 8 492.59

Fast 0 0 0.00 PMAR 3891 17 1018.77

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1571 0 7.43

Compass 1158 5 85.60

RAFOS 1299 40 768.51

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

10.91 16386 -146.63 -1.25 0.00 537.9 597.8 478.1 215.1 2726.8 0.00 0.00 0 104.80 90.22 0.00 0.00 0.005 0.000 0.000 2668.53 2666.94 2670.12 215.19 2726.94 0 0 0 15.75 30.00 30.00

105.06 18467 -146.63 -1.25 0.00 2669.3 2668.8 2669.9 215.4 2727.9 3.44 -2.10 16 149.07 22.69 11.85 0.00 0.006 0.273 0.000 3545.12 3569.62 3520.62 1726.81 2727.69 0 0 0 15.79 15.64 30.00

331.61 292 -146.63 -1.25 80.00 3548.1 3574.9 3521.2 1725.9 2727.8 19.50 -5.44 60 337.90 0.00 0.00 2.93 0.000 0.000 0.123 3497.28 3473.12 3521.44 1725.06 3910.00 0 0 0 30.00 30.00 15.76

446.63 1060 -146.63 -1.25 0.00 3549.1 3576.9 3521.2 1726.9 3911.7 25.53 -5.38 83 452.82 0.00 0.00 2.72 0.000 0.000 0.065 3549.09 3577.00 3521.19 1726.00 2722.44 0 0 0 30.00 30.00 15.84

636.68 292 -146.63 -1.25 80.00 3549.2 3577.6 3520.8 1725.8 2723.1 35.88 -5.56 121 642.97 0.00 0.00 2.98 0.000 0.000 0.120 3548.75 3576.44 3521.06 1726.81 3910.69 0 0 0 30.00 30.00 15.86

681.69 1060 -146.63 -1.25 0.00 3549.2 3577.4 3520.9 1726.6 3911.4 38.82 -6.37 130 687.88 0.00 0.00 2.73 0.000 0.000 0.065 3550.97 3579.19 3522.75 1726.00 2722.75 0 0 0 30.00 30.00 15.89

870.73 32 -146.63 -1.25 0.00 3549.0 3577.6 3520.4 1726.3 2723.8 50.89 -6.52 166 872.29 0.00 0.00 0.00 0.000 0.000 0.000 3548.97 3577.69 3520.25 1726.94 2722.56 0 0 0 30.00 30.00 30.00

1060.77 292 -146.63 -1.25 80.00 3550.3 3578.4 3522.3 1726.4 2722.6 64.57 -7.31 185 1066.47 0.00 0.00 2.93 0.000 0.000 0.122 3549.75 3576.94 3522.56 1726.25 3911.25 0 0 0 30.00 30.00 15.92

1155.02 1028 -146.63 -1.25 0.00 3548.5 3577.6 3519.4 1726.1 3911.4 72.69 -8.61 204 1162.14 0.00 0.00 2.71 0.000 0.000 0.067 3549.00 3576.81 3521.19 1726.06 2722.56 0 0 0 30.00 30.00 15.95

1343.85 32 -146.63 -1.25 0.00 3549.8 3578.2 3521.2 1726.3 2724.2 87.06 -7.56 224 1345.41 0.00 0.00 0.00 0.000 0.000 0.000 3548.75 3577.88 3519.62 1725.75 2724.12 0 0 0 30.00 30.00 30.00

1533.83 260 -146.63 -1.25 80.00 3549.6 3578.5 3520.7 1726.4 2723.6 101.57 -7.98 243 1539.58 0.00 0.00 2.99 0.000 0.000 0.124 3549.66 3577.44 3521.88 1726.12 3907.69 0 0 0 30.00 30.00 15.95

1593.84 1028 -146.63 -1.25 0.00 3549.6 3577.9 3521.2 1726.6 3909.9 106.99 -9.24 255 1599.50 0.00 0.00 2.71 0.000 0.000 0.068 3550.12 3579.31 3520.94 1725.88 2726.31 0 0 0 30.00 30.00 16.00

1787.16 0 -146.63 -1.25 0.00 3550.2 3579.1 3521.2 1726.6 2727.5 123.14 -8.19 275 1788.72 0.00 0.00 0.00 0.000 0.000 0.000 3548.91 3577.88 3519.94 1726.88 2727.00 0 0 0 30.00 30.00 30.00

1977.49 260 -146.63 -1.25 80.00 3550.1 3578.6 3521.6 1726.3 2727.9 138.41 -8.23 294 1983.01 0.00 0.00 3.01 0.000 0.000 0.126 3549.38 3578.31 3520.44 1726.38 3911.50 0 0 0 30.00 30.00 15.91

2037.19 1028 -146.63 -1.25 0.00 3549.4 3577.3 3521.5 1725.8 3911.6 143.94 -9.32 306 2042.85 0.00 0.00 2.72 0.000 0.000 0.069 3541.50 3562.50 3520.50 1725.94 2725.56 0 0 0 30.00 30.00 15.97

2227 end dive: TARGET_DEPTH_EXCEEDED

state 2227 begin apogee

2228.70 10243 0.00 -0.31 0.00 3549.8 3578.2 3521.3 1726.7 2574.1 160.02 -8.23 326 2343.45 106.18 1.53 0.08 1.337 0.143 0.242 2947.69 3015.50 2879.88 1954.94 2623.81 0 0 0 12.18 15.96 15.53

2354 end apogee: CONTROL_FINISHED_OK

state 2354 begin climb

2355.09 10759 146.63 1.25 -80.00 2946.6 3013.9 2879.2 1955.3 2623.6 161.82 0.00 337 2481.89 110.78 2.54 3.64 1.283 0.096 0.133 2346.66 2430.31 2263.00 2336.50 1189.62 0 0 0 11.91 15.57 15.32

2484.66 1028 146.63 1.25 0.00 2347.2 2428.6 2265.7 2337.0 1188.7 147.93 14.32 355 2492.03 0.00 0.00 3.41 0.000 0.000 0.060 2349.88 2431.62 2268.12 2337.25 2620.19 0 0 0 30.00 30.00 15.41

2680.30 16646 146.63 1.25 80.00 2342.0 2421.4 2262.6 2337.7 2621.4 117.47 15.42 375 2686.25 0.00 0.00 3.31 0.000 0.000 0.126 2342.16 2421.00 2263.31 2338.00 3909.50 0 0 0 30.00 30.00 15.64

2740.37 17414 146.63 1.25 0.00 2341.3 2419.8 2262.8 2337.2 3909.6 107.62 16.26 387 2746.17 0.00 0.00 3.11 0.000 0.000 0.069 2319.50 2375.12 2263.88 2336.94 2577.50 0 0 0 30.00 30.00 15.71

2930.36 16386 146.63 1.25 0.00 2340.8 2418.6 2263.1 2337.8 2577.6 79.25 14.53 407 2931.92 0.00 0.00 0.00 0.000 0.000 0.000 2336.78 2414.44 2259.12 2336.81 2577.75 0 0 0 30.00 30.00 30.00

3113.41 16646 146.63 1.25 80.00 2340.2 2417.6 2262.8 2336.5 2576.9 53.25 13.57 426 3119.35 0.00 0.00 3.35 0.000 0.000 0.119 2338.97 2417.69 2260.25 2337.44 3909.94 0 0 0 30.00 30.00 15.82

3143.40 17414 146.63 1.25 0.00 2338.9 2415.9 2261.9 2336.2 3909.8 48.90 14.49 432 3149.93 0.00 0.00 3.08 0.000 0.000 0.069 2332.25 2401.19 2263.31 2336.12 2577.88 0 0 0 30.00 30.00 15.86

3332.76 16646 146.63 1.25 80.00 2338.7 2415.8 2261.6 2337.4 2577.0 23.62 12.81 469 3339.62 0.00 0.00 3.34 0.000 0.000 0.120 2338.94 2414.75 2263.12 2337.31 3909.62 0 0 0 30.00 30.00 15.85

3373.10 17414 146.63 1.25 0.00 2338.1 2414.1 2262.1 2336.9 3909.5 17.95 14.23 477 3379.93 0.00 0.00 3.06 0.000 0.000 0.068 2336.22 2412.69 2259.75 2336.69 2575.75 0 0 0 30.00 30.00 15.90

3562.50 10535 270.17 1.40 80.00 2337.7 2414.1 2261.3 2337.4 2575.9 3.51 4.15 513 3664.53 90.56 0.20 3.42 1.136 0.088 0.117 1845.88 1936.88 1754.88 2382.69 3910.50 0 0 0 12.15 15.91 15.55

3668.21 11303 470.18 1.65 0.00 1845.2 1935.3 1755.1 2383.1 3910.7 3.09 0.71 533 3768.97 90.63 0.28 3.14 1.096 0.079 0.064 1340.91 1437.31 1244.50 2442.06 2575.38 0 0 0 11.94 15.59 15.60

3769 end climb: SURFACE_DEPTH_REACHED

state 3769 begin surface coast

3873 end surface coast: CONTROL_FINISHED_OK

state 3873 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	3	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	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	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	158.9762	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.941657	FG_AHR_24V	204.83125	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	250522,025539,4736.720,-12256.028,1,0.9,25,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,025951,4736.764,-12255.952,2,0.7,5,15.5	MHEAD_RNG_PITCHd_Wd	207.3,1928,-17.1,-9.697,-20.82,2278,0.145
SPEED_LIMITS	0.168,0.255	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.023026,-0.027122,-0.082541,1.069236,-0.012194,0.061476,-0.037835,1.022622,-955.056091,-1088.127808,43.880676
TGT_LATLONG	4736.000,-12257.000

NAV	1653451676,0.2,0,stop	TEMP	10.82
MODEM_MSG	CACST,8,1,20220525030500.746575,18,32767,45,0157,0000,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-29.4,0.42,-100,2.58,-01,0.03,58,925,0025,0,-1,00,00*16	INTERNAL_PRESSURE	7.94792
NET	xm1t part outbox0002.n 933 10	_24V_AH	14.80,110.675
NET_PING	1653450792,28,436.585480,11.700000,0.425865	_10V_AH	14.78,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	205.019
FREEZE	0.15,14.565,-1.021,0,1,0	FG_AHR_10Vo	159.026
FINISH	0.1,1.013652	MEM0	60132,1,0,0
SM_CCo	4045.73,136.41,1.105,0,541.6,607.3,475.8,590.79	MEM1	65508,1,0,0
SM_GC	1.49,136.41,13.83,0.44,1.105,0.055,0.086,541.6,607.3,475.8,215.1,2771.4,0,0,0,11.98,15.58,15.59	MEM2	942844,27,103604,79
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16149,572
IRIDIUM_FIX	4735.53,-12254.47,250522,014434	CAP_FILE_SIZE	406692,0
TCM_TEMP	13.64	SDSIZE	3918848,3882144
SC_FREEKB	3877728	SDFILEDIR	283,3
PM_FREEKB_00	62071296	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	MAGCAL	1.000000,-0.026193,-0.027332,-0.089737,1.076743,-0.038485,0.059152,-0.036609,1.069626,-958.0,-1066.9,3.8,33,0.0383,1
MODEM	1,1653447900,47.60000,-122.95000,0.747,1093.7	IMPLIED_C_PITCH	2009,15.74,282,2019.4,15.84
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_VBD	3135,24.331612,282,3042.3
HUMID	48.95	GPS	250522,040836,4736.523,-12256.275,1,1.2,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	647	1336	12809.01	nil	0	0	0.00
Pitch_motor	30	272	122.04	nil	0	0	0.00
Roll_motor	62	242	223.00	nil	0	0	0.00
Iridium	160	223	529.82	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.91	nil	0	0	0.00
Core	2563	5	193.97	SciCon	3888	8	492.59
Fast	0	0	0.00	PMAR	3891	17	1018.77
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1571	0	7.43
Compass	1158	5	85.60
RAFOS	1299	40	768.51
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
10.91	16386	-146.63	-1.25	0.00	537.9	597.8	478.1	215.1	2726.8	0.00	0.00	0	104.80	90.22	0.00	0.00	0.005	0.000	0.000	2668.53	2666.94	2670.12	215.19	2726.94	0	0	0	15.75	30.00	30.00
105.06	18467	-146.63	-1.25	0.00	2669.3	2668.8	2669.9	215.4	2727.9	3.44	-2.10	16	149.07	22.69	11.85	0.00	0.006	0.273	0.000	3545.12	3569.62	3520.62	1726.81	2727.69	0	0	0	15.79	15.64	30.00
331.61	292	-146.63	-1.25	80.00	3548.1	3574.9	3521.2	1725.9	2727.8	19.50	-5.44	60	337.90	0.00	0.00	2.93	0.000	0.000	0.123	3497.28	3473.12	3521.44	1725.06	3910.00	0	0	0	30.00	30.00	15.76
446.63	1060	-146.63	-1.25	0.00	3549.1	3576.9	3521.2	1726.9	3911.7	25.53	-5.38	83	452.82	0.00	0.00	2.72	0.000	0.000	0.065	3549.09	3577.00	3521.19	1726.00	2722.44	0	0	0	30.00	30.00	15.84
636.68	292	-146.63	-1.25	80.00	3549.2	3577.6	3520.8	1725.8	2723.1	35.88	-5.56	121	642.97	0.00	0.00	2.98	0.000	0.000	0.120	3548.75	3576.44	3521.06	1726.81	3910.69	0	0	0	30.00	30.00	15.86
681.69	1060	-146.63	-1.25	0.00	3549.2	3577.4	3520.9	1726.6	3911.4	38.82	-6.37	130	687.88	0.00	0.00	2.73	0.000	0.000	0.065	3550.97	3579.19	3522.75	1726.00	2722.75	0	0	0	30.00	30.00	15.89
870.73	32	-146.63	-1.25	0.00	3549.0	3577.6	3520.4	1726.3	2723.8	50.89	-6.52	166	872.29	0.00	0.00	0.00	0.000	0.000	0.000	3548.97	3577.69	3520.25	1726.94	2722.56	0	0	0	30.00	30.00	30.00
1060.77	292	-146.63	-1.25	80.00	3550.3	3578.4	3522.3	1726.4	2722.6	64.57	-7.31	185	1066.47	0.00	0.00	2.93	0.000	0.000	0.122	3549.75	3576.94	3522.56	1726.25	3911.25	0	0	0	30.00	30.00	15.92
1155.02	1028	-146.63	-1.25	0.00	3548.5	3577.6	3519.4	1726.1	3911.4	72.69	-8.61	204	1162.14	0.00	0.00	2.71	0.000	0.000	0.067	3549.00	3576.81	3521.19	1726.06	2722.56	0	0	0	30.00	30.00	15.95
1343.85	32	-146.63	-1.25	0.00	3549.8	3578.2	3521.2	1726.3	2724.2	87.06	-7.56	224	1345.41	0.00	0.00	0.00	0.000	0.000	0.000	3548.75	3577.88	3519.62	1725.75	2724.12	0	0	0	30.00	30.00	30.00
1533.83	260	-146.63	-1.25	80.00	3549.6	3578.5	3520.7	1726.4	2723.6	101.57	-7.98	243	1539.58	0.00	0.00	2.99	0.000	0.000	0.124	3549.66	3577.44	3521.88	1726.12	3907.69	0	0	0	30.00	30.00	15.95
1593.84	1028	-146.63	-1.25	0.00	3549.6	3577.9	3521.2	1726.6	3909.9	106.99	-9.24	255	1599.50	0.00	0.00	2.71	0.000	0.000	0.068	3550.12	3579.31	3520.94	1725.88	2726.31	0	0	0	30.00	30.00	16.00
1787.16	0	-146.63	-1.25	0.00	3550.2	3579.1	3521.2	1726.6	2727.5	123.14	-8.19	275	1788.72	0.00	0.00	0.00	0.000	0.000	0.000	3548.91	3577.88	3519.94	1726.88	2727.00	0	0	0	30.00	30.00	30.00
1977.49	260	-146.63	-1.25	80.00	3550.1	3578.6	3521.6	1726.3	2727.9	138.41	-8.23	294	1983.01	0.00	0.00	3.01	0.000	0.000	0.126	3549.38	3578.31	3520.44	1726.38	3911.50	0	0	0	30.00	30.00	15.91
2037.19	1028	-146.63	-1.25	0.00	3549.4	3577.3	3521.5	1725.8	3911.6	143.94	-9.32	306	2042.85	0.00	0.00	2.72	0.000	0.000	0.069	3541.50	3562.50	3520.50	1725.94	2725.56	0	0	0	30.00	30.00	15.97
2227	end dive: TARGET_DEPTH_EXCEEDED
state	2227	begin apogee
2228.70	10243	0.00	-0.31	0.00	3549.8	3578.2	3521.3	1726.7	2574.1	160.02	-8.23	326	2343.45	106.18	1.53	0.08	1.337	0.143	0.242	2947.69	3015.50	2879.88	1954.94	2623.81	0	0	0	12.18	15.96	15.53
2354	end apogee: CONTROL_FINISHED_OK
state	2354	begin climb
2355.09	10759	146.63	1.25	-80.00	2946.6	3013.9	2879.2	1955.3	2623.6	161.82	0.00	337	2481.89	110.78	2.54	3.64	1.283	0.096	0.133	2346.66	2430.31	2263.00	2336.50	1189.62	0	0	0	11.91	15.57	15.32
2484.66	1028	146.63	1.25	0.00	2347.2	2428.6	2265.7	2337.0	1188.7	147.93	14.32	355	2492.03	0.00	0.00	3.41	0.000	0.000	0.060	2349.88	2431.62	2268.12	2337.25	2620.19	0	0	0	30.00	30.00	15.41
2680.30	16646	146.63	1.25	80.00	2342.0	2421.4	2262.6	2337.7	2621.4	117.47	15.42	375	2686.25	0.00	0.00	3.31	0.000	0.000	0.126	2342.16	2421.00	2263.31	2338.00	3909.50	0	0	0	30.00	30.00	15.64
2740.37	17414	146.63	1.25	0.00	2341.3	2419.8	2262.8	2337.2	3909.6	107.62	16.26	387	2746.17	0.00	0.00	3.11	0.000	0.000	0.069	2319.50	2375.12	2263.88	2336.94	2577.50	0	0	0	30.00	30.00	15.71
2930.36	16386	146.63	1.25	0.00	2340.8	2418.6	2263.1	2337.8	2577.6	79.25	14.53	407	2931.92	0.00	0.00	0.00	0.000	0.000	0.000	2336.78	2414.44	2259.12	2336.81	2577.75	0	0	0	30.00	30.00	30.00
3113.41	16646	146.63	1.25	80.00	2340.2	2417.6	2262.8	2336.5	2576.9	53.25	13.57	426	3119.35	0.00	0.00	3.35	0.000	0.000	0.119	2338.97	2417.69	2260.25	2337.44	3909.94	0	0	0	30.00	30.00	15.82
3143.40	17414	146.63	1.25	0.00	2338.9	2415.9	2261.9	2336.2	3909.8	48.90	14.49	432	3149.93	0.00	0.00	3.08	0.000	0.000	0.069	2332.25	2401.19	2263.31	2336.12	2577.88	0	0	0	30.00	30.00	15.86
3332.76	16646	146.63	1.25	80.00	2338.7	2415.8	2261.6	2337.4	2577.0	23.62	12.81	469	3339.62	0.00	0.00	3.34	0.000	0.000	0.120	2338.94	2414.75	2263.12	2337.31	3909.62	0	0	0	30.00	30.00	15.85
3373.10	17414	146.63	1.25	0.00	2338.1	2414.1	2262.1	2336.9	3909.5	17.95	14.23	477	3379.93	0.00	0.00	3.06	0.000	0.000	0.068	2336.22	2412.69	2259.75	2336.69	2575.75	0	0	0	30.00	30.00	15.90
3562.50	10535	270.17	1.40	80.00	2337.7	2414.1	2261.3	2337.4	2575.9	3.51	4.15	513	3664.53	90.56	0.20	3.42	1.136	0.088	0.117	1845.88	1936.88	1754.88	2382.69	3910.50	0	0	0	12.15	15.91	15.55
3668.21	11303	470.18	1.65	0.00	1845.2	1935.3	1755.1	2383.1	3910.7	3.09	0.71	533	3768.97	90.63	0.28	3.14	1.096	0.079	0.064	1340.91	1437.31	1244.50	2442.06	2575.38	0	0	0	11.94	15.59	15.60
3769	end climb: SURFACE_DEPTH_REACHED
state	3769	begin surface coast
3873	end surface coast: CONTROL_FINISHED_OK
state	3873	begin surface