Glider dive log

HoodCanal 23May22 * SG235 * Dive index * Mission links * Dive 4 * 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 18 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 4 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 4 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 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 170 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 50 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 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 158.23859 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.813891 FG_AHR_24V 201.78416 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 150 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 158.23859 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 201.78416 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.813891 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 50

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 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 -158.7531 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 18 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 4 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 170 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 4 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 230522,192531,4736.554,-12256.613,1,1.0,35,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,192926,4736.567,-12256.579,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 191.1,1175,-17.6,-10.000,-21.21,2209,0.118

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,0,20220523201008.136335,06,32767,45,0153,0150,07,01,01,00,01,1,028,235,0,5,1,0,150,9.8,3.42,-100,-0.42,-01,-0.01,56,10000,5000,0,-1,00,00*4E _24V_AH 14.80,107.454

NAV 1653336440,130.9,0,stop _10V_AH 14.80,0.000

NET_PING 1653336609,28,693.185974,9.800000,0.085363 FG_AHR_24Vo 201.976

FREEZE 2.01,14.203,-1.447,0,1,0 FG_AHR_10Vo 158.282

FINISH 2.0,1.019645 MEM0 60148,1,0,0

SM_CCo 3796.52,235.00,1.126,0,541.5,609.8,473.1,590.81 MEM1 65508,1,0,0

SM_GC 1.57,235.00,14.11,0.43,1.126,0.091,0.088,541.5,609.8,473.1,219.0,2773.3,0,0,0,12.05,15.74,15.81 MEM2 942720,25,103708,82

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12928,536

IRIDIUM_FIX 4738.33,-12256.21,230522,181857 CAP_FILE_SIZE 383373,0

TCM_TEMP 13.84 SDSIZE 3918848,3884256

SC_FREEKB 3877408 SDFILEDIR 275,3

PM_FREEKB_00 62029184 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,-0.076513,-0.339472,-0.079925,1.167865,-0.076236,0.131809,-0.094260,1.240053,-678.5,-1007.6,-66.6,22,0.0364,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2007,15.87,255,2018.4,15.84

HUMID 48.68 IMPLIED_C_VBD 3110,29.097790,255,3030.1

TEMP 10.83 GPS 230522,203355,4736.318,-12256.746,1,1.5,3,15.5

INTERNAL_PRESSURE 7.93774

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 649 1333 12816.95 nil 0 0 0.00

Pitch_motor 30 265 119.41 nil 0 0 0.00

Roll_motor 67 244 245.35 nil 0 0 0.00

Iridium 143 214 453.54 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.92 nil 0 0 0.00

Core 2321 5 175.88 SciCon 3527 6 330.79

Fast 0 0 0.00 PMAR 3534 21 1123.58

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1437 0 6.81

Compass 1099 5 81.36

RAFOS 782 40 463.16

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.22 16386 -146.63 -1.29 0.00 538.7 604.6 472.8 218.8 2724.2 0.00 0.00 0 111.97 95.85 0.00 0.00 0.005 0.000 0.000 2795.03 2798.06 2792.00 218.94 2725.75 0 0 0 15.46 30.00 30.00

112.22 18727 -146.63 -1.29 80.00 2796.0 2800.2 2791.8 219.1 2724.8 3.11 -1.43 16 158.21 22.62 11.60 2.97 0.006 0.266 0.125 3546.28 3571.75 3520.81 1718.12 3909.94 0 0 0 15.78 15.62 15.69

181.52 1028 -146.63 -1.29 0.00 3547.1 3573.2 3521.0 1717.5 3911.0 9.55 -10.62 29 187.78 0.00 0.00 2.77 0.000 0.000 0.068 3546.59 3573.56 3519.62 1717.94 2721.69 0 0 0 30.00 30.00 15.74

371.58 292 -146.63 -1.29 80.00 3549.2 3576.4 3522.0 1717.7 2721.9 22.27 -5.65 67 378.08 0.00 0.00 2.98 0.000 0.000 0.121 3550.38 3578.50 3522.25 1717.62 3912.38 0 0 0 30.00 30.00 15.78

496.67 1060 -146.63 -1.29 0.00 3548.9 3576.4 3521.4 1717.6 3909.3 30.21 -6.35 92 503.00 0.00 0.00 2.75 0.000 0.000 0.067 3548.59 3576.25 3520.94 1718.00 2723.12 0 0 0 30.00 30.00 15.86

685.70 32 -146.63 -1.29 0.00 3549.6 3578.0 3521.1 1717.6 2723.4 41.50 -6.32 129 690.25 0.00 0.00 0.00 0.000 0.000 0.000 3549.16 3578.12 3520.19 1717.81 2723.12 0 0 0 30.00 30.00 30.00

870.74 292 -146.63 -1.29 80.00 3550.4 3578.8 3522.0 1717.1 2723.2 54.45 -7.24 160 876.47 0.00 0.00 2.97 0.000 0.000 0.124 3550.22 3579.38 3521.06 1717.19 3910.75 0 0 0 30.00 30.00 15.89

910.71 1028 -146.63 -1.29 0.00 3549.5 3578.1 3520.9 1717.9 3910.8 57.90 -8.63 168 916.38 0.00 0.00 2.72 0.000 0.000 0.068 3552.12 3580.38 3523.88 1717.75 2723.94 0 0 0 30.00 30.00 15.94

1100.74 260 -146.63 -1.29 80.00 3550.4 3579.3 3521.6 1717.4 2725.6 73.87 -8.61 188 1106.51 0.00 0.00 2.99 0.000 0.000 0.125 3548.91 3577.00 3520.81 1717.69 3909.94 0 0 0 30.00 30.00 15.93

1120.75 1028 -146.63 -1.29 0.00 3549.5 3578.1 3521.0 1717.6 3911.1 75.72 -8.73 192 1126.46 0.00 0.00 2.70 0.000 0.000 0.069 3550.50 3579.81 3521.19 1717.38 2724.81 0 0 0 30.00 30.00 15.96

1310.77 260 -146.63 -1.29 80.00 3550.0 3579.0 3520.9 1717.9 2727.2 93.30 -9.35 212 1316.54 0.00 0.00 2.96 0.000 0.000 0.127 3551.62 3580.50 3522.75 1717.31 3909.44 0 0 0 30.00 30.00 15.93

1350.78 1028 -146.63 -1.29 0.00 3549.9 3578.4 3521.5 1716.9 3908.9 97.32 -10.16 220 1356.49 0.00 0.00 2.72 0.000 0.000 0.070 3549.62 3578.25 3521.00 1717.12 2725.94 0 0 0 30.00 30.00 15.97

1540.81 260 -146.63 -1.29 80.00 3550.1 3579.2 3520.9 1717.4 2726.6 114.81 -9.13 240 1546.58 0.00 0.00 2.99 0.000 0.000 0.126 3549.47 3579.06 3519.88 1716.62 3908.44 0 0 0 30.00 30.00 15.95

1580.83 1028 -146.63 -1.29 0.00 3550.0 3578.5 3521.5 1717.1 3909.8 118.79 -10.08 248 1586.49 0.00 0.00 2.70 0.000 0.000 0.070 3550.38 3578.69 3522.06 1717.62 2726.75 0 0 0 30.00 30.00 15.99

1775.19 0 -146.63 -1.29 0.00 3550.5 3580.7 3520.3 1717.2 2726.4 136.23 -9.04 268 1776.76 0.00 0.00 0.00 0.000 0.000 0.000 3548.91 3578.62 3519.19 1717.38 2725.69 0 0 0 30.00 30.00 30.00

1935 end dive: TARGET_DEPTH_EXCEEDED

state 1935 begin apogee

1936.65 10243 0.00 -0.32 0.00 3549.9 3579.6 3520.3 1718.1 2575.8 150.72 -9.24 284 2051.49 106.52 1.59 0.08 1.333 0.141 0.244 2950.47 3017.00 2883.94 1954.94 2623.00 0 0 0 12.16 15.94 15.50

2057 end apogee: CONTROL_FINISHED_OK

state 2057 begin climb

2057.60 10759 146.63 1.29 -80.00 2946.4 3011.8 2881.0 1955.2 2623.0 153.28 0.00 295 2183.24 109.57 2.59 3.67 1.285 0.091 0.137 2349.34 2430.56 2268.12 2349.25 1190.25 0 0 0 11.90 15.53 15.29

2186.01 1028 146.63 1.29 0.00 2347.5 2428.2 2266.8 2349.0 1190.6 139.81 14.84 316 2193.39 0.00 0.00 3.46 0.000 0.000 0.061 2346.38 2425.69 2267.06 2349.69 2620.25 0 0 0 30.00 30.00 15.38

2381.66 16646 146.63 1.29 80.00 2343.7 2422.1 2265.2 2348.6 2619.6 108.59 15.32 336 2387.57 0.00 0.00 3.26 0.000 0.000 0.128 2343.34 2421.44 2265.25 2348.25 3907.56 0 0 0 30.00 30.00 15.63

2454.72 17414 146.63 1.29 0.00 2341.8 2418.5 2265.2 2348.6 3907.1 96.65 16.38 350 2460.62 0.00 0.00 3.13 0.000 0.000 0.071 2340.84 2416.94 2264.75 2348.00 2579.56 0 0 0 30.00 30.00 15.71

2644.74 16646 146.63 1.29 80.00 2341.3 2418.2 2264.4 2348.6 2579.2 67.76 15.06 370 2650.70 0.00 0.00 3.38 0.000 0.000 0.123 2340.66 2417.31 2264.00 2348.94 3909.44 0 0 0 30.00 30.00 15.76

2689.02 17414 146.63 1.29 0.00 2340.7 2417.2 2264.1 2348.0 3909.8 60.39 16.44 379 2696.55 0.00 0.00 3.10 0.000 0.000 0.070 2341.62 2416.62 2266.62 2348.56 2578.81 0 0 0 30.00 30.00 15.81

2879.86 16646 146.63 1.29 80.00 2340.8 2416.7 2264.8 2348.8 2578.7 33.06 13.77 410 2886.67 0.00 0.00 3.27 0.000 0.000 0.123 2341.53 2418.00 2265.06 2349.06 3907.88 0 0 0 30.00 30.00 15.82

2910.18 17414 146.63 1.29 0.00 2340.3 2415.7 2264.9 2348.7 3907.8 28.66 14.52 416 2916.85 0.00 0.00 3.09 0.000 0.000 0.070 2340.69 2414.81 2266.56 2348.19 2578.81 0 0 0 30.00 30.00 15.85

3101.91 16646 146.63 1.29 80.00 2340.2 2416.0 2264.4 2348.4 2578.8 5.92 8.76 454 3108.71 0.00 0.00 3.34 0.000 0.000 0.120 2342.94 2418.88 2267.00 2348.44 3910.06 0 0 0 30.00 30.00 15.85

3162.30 11303 250.26 1.42 0.00 2338.9 2414.9 2263.0 2348.3 3910.2 2.89 5.20 466 3248.51 76.07 0.15 3.10 1.148 0.104 0.068 1926.78 2017.44 1836.12 2384.31 2577.50 0 0 0 12.15 15.90 15.91

3432.12 10791 455.64 1.67 -80.00 1921.7 2007.4 1835.9 2384.2 2578.4 2.03 0.49 519 3437.68 4.01 0.31 0.00 0.491 0.076 0.000 1916.50 2002.50 1830.50 2446.25 2576.62 0 0 0 11.87 15.76 30.00

3438 end climb: SURFACE_DEPTH_REACHED

state 3438 begin surface coast

3517 end surface coast: NO_VERTICAL_VELOCITY

state 3517 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	18	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	4	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	4	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	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	170	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	50	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	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	158.23859	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.813891	FG_AHR_24V	201.78416	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	230522,192531,4736.554,-12256.613,1,1.0,35,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,192926,4736.567,-12256.579,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	191.1,1175,-17.6,-10.000,-21.21,2209,0.118
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,0,20220523201008.136335,06,32767,45,0153,0150,07,01,01,00,01,1,028,235,0,5,1,0,150,9.8,3.42,-100,-0.42,-01,-0.01,56,10000,5000,0,-1,00,00*4E	_24V_AH	14.80,107.454
NAV	1653336440,130.9,0,stop	_10V_AH	14.80,0.000
NET_PING	1653336609,28,693.185974,9.800000,0.085363	FG_AHR_24Vo	201.976
FREEZE	2.01,14.203,-1.447,0,1,0	FG_AHR_10Vo	158.282
FINISH	2.0,1.019645	MEM0	60148,1,0,0
SM_CCo	3796.52,235.00,1.126,0,541.5,609.8,473.1,590.81	MEM1	65508,1,0,0
SM_GC	1.57,235.00,14.11,0.43,1.126,0.091,0.088,541.5,609.8,473.1,219.0,2773.3,0,0,0,12.05,15.74,15.81	MEM2	942720,25,103708,82
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12928,536
IRIDIUM_FIX	4738.33,-12256.21,230522,181857	CAP_FILE_SIZE	383373,0
TCM_TEMP	13.84	SDSIZE	3918848,3884256
SC_FREEKB	3877408	SDFILEDIR	275,3
PM_FREEKB_00	62029184	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,-0.076513,-0.339472,-0.079925,1.167865,-0.076236,0.131809,-0.094260,1.240053,-678.5,-1007.6,-66.6,22,0.0364,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2007,15.87,255,2018.4,15.84
HUMID	48.68	IMPLIED_C_VBD	3110,29.097790,255,3030.1
TEMP	10.83	GPS	230522,203355,4736.318,-12256.746,1,1.5,3,15.5
INTERNAL_PRESSURE	7.93774

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	649	1333	12816.95	nil	0	0	0.00
Pitch_motor	30	265	119.41	nil	0	0	0.00
Roll_motor	67	244	245.35	nil	0	0	0.00
Iridium	143	214	453.54	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.92	nil	0	0	0.00
Core	2321	5	175.88	SciCon	3527	6	330.79
Fast	0	0	0.00	PMAR	3534	21	1123.58
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1437	0	6.81
Compass	1099	5	81.36
RAFOS	782	40	463.16
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.22	16386	-146.63	-1.29	0.00	538.7	604.6	472.8	218.8	2724.2	0.00	0.00	0	111.97	95.85	0.00	0.00	0.005	0.000	0.000	2795.03	2798.06	2792.00	218.94	2725.75	0	0	0	15.46	30.00	30.00
112.22	18727	-146.63	-1.29	80.00	2796.0	2800.2	2791.8	219.1	2724.8	3.11	-1.43	16	158.21	22.62	11.60	2.97	0.006	0.266	0.125	3546.28	3571.75	3520.81	1718.12	3909.94	0	0	0	15.78	15.62	15.69
181.52	1028	-146.63	-1.29	0.00	3547.1	3573.2	3521.0	1717.5	3911.0	9.55	-10.62	29	187.78	0.00	0.00	2.77	0.000	0.000	0.068	3546.59	3573.56	3519.62	1717.94	2721.69	0	0	0	30.00	30.00	15.74
371.58	292	-146.63	-1.29	80.00	3549.2	3576.4	3522.0	1717.7	2721.9	22.27	-5.65	67	378.08	0.00	0.00	2.98	0.000	0.000	0.121	3550.38	3578.50	3522.25	1717.62	3912.38	0	0	0	30.00	30.00	15.78
496.67	1060	-146.63	-1.29	0.00	3548.9	3576.4	3521.4	1717.6	3909.3	30.21	-6.35	92	503.00	0.00	0.00	2.75	0.000	0.000	0.067	3548.59	3576.25	3520.94	1718.00	2723.12	0	0	0	30.00	30.00	15.86
685.70	32	-146.63	-1.29	0.00	3549.6	3578.0	3521.1	1717.6	2723.4	41.50	-6.32	129	690.25	0.00	0.00	0.00	0.000	0.000	0.000	3549.16	3578.12	3520.19	1717.81	2723.12	0	0	0	30.00	30.00	30.00
870.74	292	-146.63	-1.29	80.00	3550.4	3578.8	3522.0	1717.1	2723.2	54.45	-7.24	160	876.47	0.00	0.00	2.97	0.000	0.000	0.124	3550.22	3579.38	3521.06	1717.19	3910.75	0	0	0	30.00	30.00	15.89
910.71	1028	-146.63	-1.29	0.00	3549.5	3578.1	3520.9	1717.9	3910.8	57.90	-8.63	168	916.38	0.00	0.00	2.72	0.000	0.000	0.068	3552.12	3580.38	3523.88	1717.75	2723.94	0	0	0	30.00	30.00	15.94
1100.74	260	-146.63	-1.29	80.00	3550.4	3579.3	3521.6	1717.4	2725.6	73.87	-8.61	188	1106.51	0.00	0.00	2.99	0.000	0.000	0.125	3548.91	3577.00	3520.81	1717.69	3909.94	0	0	0	30.00	30.00	15.93
1120.75	1028	-146.63	-1.29	0.00	3549.5	3578.1	3521.0	1717.6	3911.1	75.72	-8.73	192	1126.46	0.00	0.00	2.70	0.000	0.000	0.069	3550.50	3579.81	3521.19	1717.38	2724.81	0	0	0	30.00	30.00	15.96
1310.77	260	-146.63	-1.29	80.00	3550.0	3579.0	3520.9	1717.9	2727.2	93.30	-9.35	212	1316.54	0.00	0.00	2.96	0.000	0.000	0.127	3551.62	3580.50	3522.75	1717.31	3909.44	0	0	0	30.00	30.00	15.93
1350.78	1028	-146.63	-1.29	0.00	3549.9	3578.4	3521.5	1716.9	3908.9	97.32	-10.16	220	1356.49	0.00	0.00	2.72	0.000	0.000	0.070	3549.62	3578.25	3521.00	1717.12	2725.94	0	0	0	30.00	30.00	15.97
1540.81	260	-146.63	-1.29	80.00	3550.1	3579.2	3520.9	1717.4	2726.6	114.81	-9.13	240	1546.58	0.00	0.00	2.99	0.000	0.000	0.126	3549.47	3579.06	3519.88	1716.62	3908.44	0	0	0	30.00	30.00	15.95
1580.83	1028	-146.63	-1.29	0.00	3550.0	3578.5	3521.5	1717.1	3909.8	118.79	-10.08	248	1586.49	0.00	0.00	2.70	0.000	0.000	0.070	3550.38	3578.69	3522.06	1717.62	2726.75	0	0	0	30.00	30.00	15.99
1775.19	0	-146.63	-1.29	0.00	3550.5	3580.7	3520.3	1717.2	2726.4	136.23	-9.04	268	1776.76	0.00	0.00	0.00	0.000	0.000	0.000	3548.91	3578.62	3519.19	1717.38	2725.69	0	0	0	30.00	30.00	30.00
1935	end dive: TARGET_DEPTH_EXCEEDED
state	1935	begin apogee
1936.65	10243	0.00	-0.32	0.00	3549.9	3579.6	3520.3	1718.1	2575.8	150.72	-9.24	284	2051.49	106.52	1.59	0.08	1.333	0.141	0.244	2950.47	3017.00	2883.94	1954.94	2623.00	0	0	0	12.16	15.94	15.50
2057	end apogee: CONTROL_FINISHED_OK
state	2057	begin climb
2057.60	10759	146.63	1.29	-80.00	2946.4	3011.8	2881.0	1955.2	2623.0	153.28	0.00	295	2183.24	109.57	2.59	3.67	1.285	0.091	0.137	2349.34	2430.56	2268.12	2349.25	1190.25	0	0	0	11.90	15.53	15.29
2186.01	1028	146.63	1.29	0.00	2347.5	2428.2	2266.8	2349.0	1190.6	139.81	14.84	316	2193.39	0.00	0.00	3.46	0.000	0.000	0.061	2346.38	2425.69	2267.06	2349.69	2620.25	0	0	0	30.00	30.00	15.38
2381.66	16646	146.63	1.29	80.00	2343.7	2422.1	2265.2	2348.6	2619.6	108.59	15.32	336	2387.57	0.00	0.00	3.26	0.000	0.000	0.128	2343.34	2421.44	2265.25	2348.25	3907.56	0	0	0	30.00	30.00	15.63
2454.72	17414	146.63	1.29	0.00	2341.8	2418.5	2265.2	2348.6	3907.1	96.65	16.38	350	2460.62	0.00	0.00	3.13	0.000	0.000	0.071	2340.84	2416.94	2264.75	2348.00	2579.56	0	0	0	30.00	30.00	15.71
2644.74	16646	146.63	1.29	80.00	2341.3	2418.2	2264.4	2348.6	2579.2	67.76	15.06	370	2650.70	0.00	0.00	3.38	0.000	0.000	0.123	2340.66	2417.31	2264.00	2348.94	3909.44	0	0	0	30.00	30.00	15.76
2689.02	17414	146.63	1.29	0.00	2340.7	2417.2	2264.1	2348.0	3909.8	60.39	16.44	379	2696.55	0.00	0.00	3.10	0.000	0.000	0.070	2341.62	2416.62	2266.62	2348.56	2578.81	0	0	0	30.00	30.00	15.81
2879.86	16646	146.63	1.29	80.00	2340.8	2416.7	2264.8	2348.8	2578.7	33.06	13.77	410	2886.67	0.00	0.00	3.27	0.000	0.000	0.123	2341.53	2418.00	2265.06	2349.06	3907.88	0	0	0	30.00	30.00	15.82
2910.18	17414	146.63	1.29	0.00	2340.3	2415.7	2264.9	2348.7	3907.8	28.66	14.52	416	2916.85	0.00	0.00	3.09	0.000	0.000	0.070	2340.69	2414.81	2266.56	2348.19	2578.81	0	0	0	30.00	30.00	15.85
3101.91	16646	146.63	1.29	80.00	2340.2	2416.0	2264.4	2348.4	2578.8	5.92	8.76	454	3108.71	0.00	0.00	3.34	0.000	0.000	0.120	2342.94	2418.88	2267.00	2348.44	3910.06	0	0	0	30.00	30.00	15.85
3162.30	11303	250.26	1.42	0.00	2338.9	2414.9	2263.0	2348.3	3910.2	2.89	5.20	466	3248.51	76.07	0.15	3.10	1.148	0.104	0.068	1926.78	2017.44	1836.12	2384.31	2577.50	0	0	0	12.15	15.90	15.91
3432.12	10791	455.64	1.67	-80.00	1921.7	2007.4	1835.9	2384.2	2578.4	2.03	0.49	519	3437.68	4.01	0.31	0.00	0.491	0.076	0.000	1916.50	2002.50	1830.50	2446.25	2576.62	0	0	0	11.87	15.76	30.00
3438	end climb: SURFACE_DEPTH_REACHED
state	3438	begin surface coast
3517	end surface coast: NO_VERTICAL_VELOCITY
state	3517	begin surface