Glider dive log

HoodCanal 24May22 * 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 19 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 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 158.74541 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.833717 FG_AHR_24V 203.76155 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 158.74541 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 203.76155 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.833717 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 19 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 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 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 240522,195805,4736.230,-12256.606,1,1.3,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,200231,4736.252,-12256.555,2,1.4,4,15.5 MHEAD_RNG_PITCHd_Wd 214.4,726,-20.4,-9.697,-23.78,1649,0.121

SPEED_LIMITS 0.168,0.255 D_GRID 169

TGT_NAME S IRON 1.000000,-0.064745,-0.359170,-0.077103,1.188355,-0.069814,0.091763,0.027031,1.297671,-670.173157,-1024.259766,-88.120605

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653425944,0.2,start INTERNAL_PRESSURE 7.96408

NET CACST,8,1,20220524204014.540842,06,1082,24,0124,0150,74,01,01,01,01,1,045,121,3,5,7,0,150,3.8,2.43,-100,0.57,-01,1.07,48,10000,5000,0,5,01,01*57 _24V_AH 14.79,109.473

NET_PING 1653423613,28,161.788498,15.100000,0.789609 _10V_AH 14.74,0.000

MODEM_MSG CACST,8,1,20220524203203.620676,18,28221,38,0369,0000,246,01,01,01,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*28 FG_AHR_24Vo 203.952

FREEZE 0.21,14.960,-1.394,0,1,0 FG_AHR_10Vo 158.789

FINISH 0.2,1.018771 MEM0 60132,1,0,0

SM_CCo 3677.15,172.72,1.111,0,541.8,608.8,474.9,590.72 MEM1 65508,1,0,0

SM_GC 1.43,172.72,13.82,0.28,1.111,0.056,0.101,541.8,608.8,474.9,214.1,2772.3,0,0,0,11.95,15.71,15.71 MEM2 942696,28,103672,82

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12942,514

IRIDIUM_FIX 4737.86,-12251.79,240522,184637 CAP_FILE_SIZE 3342017,0

TCM_TEMP 14.61 SDSIZE 3918848,3881056

SC_FREEKB 3877408 SDFILEDIR 286,3

PM_FREEKB_00 61988416 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,-0.061733,-0.257625,-0.047651,1.120086,-0.072550,0.091060,0.030709,1.154458,-741.5,-1033.7,-10.9,30,0.0364,1

MODEM 2,1653424203,47.61200,-122.96660,3.336,4682.0 IMPLIED_C_PITCH 2011,15.84,232,2020.4,15.84

RAFOS_FIX 5100.969727,-12257.996094,240522,181832,2,510,2598.48 IMPLIED_C_VBD 3133,28.511162,232,3041.3

HUMID 48.89 GPS 240522,210532,4736.122,-12256.813,2,1.2,31,15.5

TEMP 11.29

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 649 1331 12783.18 nil 0 0 0.00

Pitch_motor 30 270 121.81 nil 0 0 0.00

Roll_motor 50 236 176.76 nil 0 0 0.00

Iridium 169 218 547.92 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 2606 5 196.72 SciCon 3467 6 330.79

Fast 0 0 0.00 PMAR 3477 17 906.83

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1127 0 5.32

Compass 1277 5 94.12

RAFOS 608 40 358.90

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

10.79 16386 -105.78 -1.42 0.00 537.9 598.2 477.6 216.3 2723.9 0.00 0.00 0 94.52 80.38 0.00 0.00 0.005 0.000 0.000 2474.09 2483.38 2464.81 216.50 2724.88 0 0 0 15.75 30.00 30.00

94.77 18467 -146.63 -1.47 0.00 2473.5 2484.2 2462.8 216.6 2724.6 3.15 -1.59 14 149.39 34.27 11.51 0.00 0.005 0.270 0.000 3546.19 3572.44 3519.94 1672.94 2724.62 0 0 0 15.78 15.63 30.00

332.68 0 -146.63 -1.47 80.00 3548.8 3577.7 3520.0 1673.7 2724.1 23.11 -7.99 61 337.15 0.00 0.00 0.00 0.000 0.000 0.000 3548.62 3576.38 3520.88 1673.00 2725.38 0 0 0 30.00 30.00 30.00

518.68 548 -146.63 -1.47 -80.00 3549.1 3577.6 3520.7 1673.2 2724.8 34.89 -6.56 98 525.45 0.00 0.00 3.51 0.000 0.000 0.122 3550.41 3579.69 3521.12 1673.25 1281.12 0 0 0 30.00 30.00 15.83

578.85 1028 -146.63 -1.47 0.00 3549.5 3577.8 3521.3 1673.8 1280.6 39.87 -8.50 110 585.63 0.00 0.00 3.51 0.000 0.000 0.063 3550.12 3579.38 3520.88 1673.31 2770.19 0 0 0 30.00 30.00 15.87

769.03 0 -146.63 -1.47 0.00 3550.4 3579.7 3521.1 1673.4 2770.1 53.93 -7.81 143 770.61 0.00 0.00 0.00 0.000 0.000 0.000 3549.12 3578.56 3519.69 1673.88 2769.88 0 0 0 30.00 30.00 30.00

959.07 516 -146.63 -1.47 -80.00 3550.9 3579.9 3521.9 1672.3 2770.3 70.20 -8.84 162 965.11 0.00 0.00 3.51 0.000 0.000 0.120 3551.47 3581.44 3521.50 1673.56 1280.38 0 0 0 30.00 30.00 15.91

1003.35 1028 -146.63 -1.47 0.00 3551.0 3579.8 3522.2 1673.2 1280.0 75.09 -11.17 171 1010.76 0.00 0.00 3.31 0.000 0.000 0.064 3550.59 3579.25 3521.94 1673.75 2769.44 0 0 0 30.00 30.00 15.95

1194.92 260 -146.63 -1.47 80.00 3549.9 3579.2 3520.6 1673.4 2770.3 93.49 -9.75 191 1201.59 0.00 0.00 2.71 0.000 0.000 0.123 3550.28 3579.00 3521.56 1672.94 3913.38 0 0 0 30.00 30.00 15.92

1229.97 1028 -146.63 -1.47 0.00 3550.7 3580.4 3520.9 1673.1 3912.5 97.40 -10.90 198 1238.30 0.00 0.00 2.65 0.000 0.000 0.067 3549.91 3579.31 3520.50 1673.44 2723.25 0 0 0 30.00 30.00 15.96

1425.86 260 -146.63 -1.47 80.00 3550.1 3579.5 3520.8 1673.8 2722.8 117.28 -10.05 218 1432.58 0.00 0.00 2.84 0.000 0.000 0.119 3553.09 3581.56 3524.62 1672.75 3912.50 0 0 0 30.00 30.00 15.95

1466.80 1028 -146.63 -1.47 0.00 3550.3 3579.4 3521.2 1674.1 3913.2 121.96 -11.60 226 1473.42 0.00 0.00 2.66 0.000 0.000 0.068 3550.28 3579.06 3521.50 1673.94 2725.00 0 0 0 30.00 30.00 15.98

1663.48 0 -146.63 -1.47 0.00 3550.2 3580.1 3520.2 1674.1 2724.2 142.50 -10.53 246 1665.04 0.00 0.00 0.00 0.000 0.000 0.000 3549.03 3579.81 3518.25 1674.19 2725.69 0 0 0 30.00 30.00 30.00

1833 end dive: TARGET_DEPTH_EXCEEDED

state 1833 begin apogee

1836.13 10243 0.00 -0.32 0.00 3550.6 3579.3 3521.9 1673.6 2572.3 160.62 -10.73 263 1953.19 106.97 1.90 0.08 1.332 0.150 0.236 2951.12 3017.75 2884.50 1955.19 2626.75 0 0 0 12.00 15.93 15.51

1957 end apogee: CONTROL_FINISHED_OK

state 1957 begin climb

1958.18 10243 146.63 1.47 0.00 2947.4 3014.3 2880.4 1954.5 2626.0 163.30 0.00 274 2080.95 110.42 2.89 0.00 1.286 0.091 0.000 2349.34 2430.94 2267.75 2390.12 2625.62 0 0 0 11.89 15.55 30.00

2262.49 16646 146.63 1.47 80.00 2343.5 2421.6 2265.4 2389.9 2625.5 117.22 17.72 309 2269.33 0.00 0.00 3.10 0.000 0.000 0.118 2342.38 2420.56 2264.19 2389.75 3911.75 0 0 0 30.00 30.00 15.62

2303.82 17414 146.63 1.47 0.00 2341.9 2419.4 2264.4 2388.4 3910.9 109.57 18.89 317 2310.84 0.00 0.00 3.04 0.000 0.000 0.068 2343.28 2420.88 2265.69 2389.94 2577.75 0 0 0 30.00 30.00 15.68

2495.28 16646 146.63 1.47 80.00 2341.9 2418.7 2265.1 2389.6 2576.2 75.57 17.29 337 2502.16 0.00 0.00 3.19 0.000 0.000 0.119 2339.81 2416.25 2263.38 2389.75 3910.44 0 0 0 30.00 30.00 15.75

2556.48 17414 146.63 1.47 0.00 2340.8 2416.1 2265.5 2389.9 3910.1 64.01 18.59 349 2563.49 0.00 0.00 3.01 0.000 0.000 0.068 2340.47 2417.06 2263.88 2389.81 2575.94 0 0 0 30.00 30.00 15.80

2747.78 16646 146.63 1.47 80.00 2340.3 2416.1 2264.6 2389.8 2575.8 31.13 16.13 380 2755.72 0.00 0.00 3.19 0.000 0.000 0.119 2339.28 2415.88 2262.69 2390.38 3911.94 0 0 0 30.00 30.00 15.82

2790.04 17414 146.63 1.47 0.00 2339.5 2414.1 2264.9 2390.9 3910.1 24.22 16.63 388 2797.85 0.00 0.00 2.99 0.000 0.000 0.068 2338.88 2412.81 2264.94 2391.12 2574.44 0 0 0 30.00 30.00 15.87

2982.74 8742 208.83 1.55 -80.00 2339.5 2414.6 2264.3 2390.1 2575.2 2.77 5.84 425 3043.41 46.88 0.00 3.38 1.127 0.000 0.133 2096.38 2182.19 2010.56 2390.31 1188.69 0 0 0 12.10 30.00 15.69

3087.86 11303 342.48 1.71 0.00 2092.1 2174.8 2009.4 2391.0 1189.1 2.69 1.41 445 3201.67 97.37 0.33 3.23 1.120 0.076 0.057 1551.59 1640.50 1462.69 2456.00 2633.38 0 0 0 11.94 15.76 15.77

3206 end climb: SURFACE_DEPTH_REACHED

state 3206 begin surface coast

3458 end surface coast: CONTROL_FINISHED_OK

state 3458 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	19	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	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	158.74541	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.833717	FG_AHR_24V	203.76155	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	240522,195805,4736.230,-12256.606,1,1.3,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,200231,4736.252,-12256.555,2,1.4,4,15.5	MHEAD_RNG_PITCHd_Wd	214.4,726,-20.4,-9.697,-23.78,1649,0.121
SPEED_LIMITS	0.168,0.255	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.064745,-0.359170,-0.077103,1.188355,-0.069814,0.091763,0.027031,1.297671,-670.173157,-1024.259766,-88.120605
TGT_LATLONG	4736.000,-12257.000

NAV	1653425944,0.2,start	INTERNAL_PRESSURE	7.96408
NET	CACST,8,1,20220524204014.540842,06,1082,24,0124,0150,74,01,01,01,01,1,045,121,3,5,7,0,150,3.8,2.43,-100,0.57,-01,1.07,48,10000,5000,0,5,01,01*57	_24V_AH	14.79,109.473
NET_PING	1653423613,28,161.788498,15.100000,0.789609	_10V_AH	14.74,0.000
MODEM_MSG	CACST,8,1,20220524203203.620676,18,28221,38,0369,0000,246,01,01,01,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*28	FG_AHR_24Vo	203.952
FREEZE	0.21,14.960,-1.394,0,1,0	FG_AHR_10Vo	158.789
FINISH	0.2,1.018771	MEM0	60132,1,0,0
SM_CCo	3677.15,172.72,1.111,0,541.8,608.8,474.9,590.72	MEM1	65508,1,0,0
SM_GC	1.43,172.72,13.82,0.28,1.111,0.056,0.101,541.8,608.8,474.9,214.1,2772.3,0,0,0,11.95,15.71,15.71	MEM2	942696,28,103672,82
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12942,514
IRIDIUM_FIX	4737.86,-12251.79,240522,184637	CAP_FILE_SIZE	3342017,0
TCM_TEMP	14.61	SDSIZE	3918848,3881056
SC_FREEKB	3877408	SDFILEDIR	286,3
PM_FREEKB_00	61988416	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,-0.061733,-0.257625,-0.047651,1.120086,-0.072550,0.091060,0.030709,1.154458,-741.5,-1033.7,-10.9,30,0.0364,1
MODEM	2,1653424203,47.61200,-122.96660,3.336,4682.0	IMPLIED_C_PITCH	2011,15.84,232,2020.4,15.84
RAFOS_FIX	5100.969727,-12257.996094,240522,181832,2,510,2598.48	IMPLIED_C_VBD	3133,28.511162,232,3041.3
HUMID	48.89	GPS	240522,210532,4736.122,-12256.813,2,1.2,31,15.5
TEMP	11.29

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	649	1331	12783.18	nil	0	0	0.00
Pitch_motor	30	270	121.81	nil	0	0	0.00
Roll_motor	50	236	176.76	nil	0	0	0.00
Iridium	169	218	547.92	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	2606	5	196.72	SciCon	3467	6	330.79
Fast	0	0	0.00	PMAR	3477	17	906.83
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1127	0	5.32
Compass	1277	5	94.12
RAFOS	608	40	358.90
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
10.79	16386	-105.78	-1.42	0.00	537.9	598.2	477.6	216.3	2723.9	0.00	0.00	0	94.52	80.38	0.00	0.00	0.005	0.000	0.000	2474.09	2483.38	2464.81	216.50	2724.88	0	0	0	15.75	30.00	30.00
94.77	18467	-146.63	-1.47	0.00	2473.5	2484.2	2462.8	216.6	2724.6	3.15	-1.59	14	149.39	34.27	11.51	0.00	0.005	0.270	0.000	3546.19	3572.44	3519.94	1672.94	2724.62	0	0	0	15.78	15.63	30.00
332.68	0	-146.63	-1.47	80.00	3548.8	3577.7	3520.0	1673.7	2724.1	23.11	-7.99	61	337.15	0.00	0.00	0.00	0.000	0.000	0.000	3548.62	3576.38	3520.88	1673.00	2725.38	0	0	0	30.00	30.00	30.00
518.68	548	-146.63	-1.47	-80.00	3549.1	3577.6	3520.7	1673.2	2724.8	34.89	-6.56	98	525.45	0.00	0.00	3.51	0.000	0.000	0.122	3550.41	3579.69	3521.12	1673.25	1281.12	0	0	0	30.00	30.00	15.83
578.85	1028	-146.63	-1.47	0.00	3549.5	3577.8	3521.3	1673.8	1280.6	39.87	-8.50	110	585.63	0.00	0.00	3.51	0.000	0.000	0.063	3550.12	3579.38	3520.88	1673.31	2770.19	0	0	0	30.00	30.00	15.87
769.03	0	-146.63	-1.47	0.00	3550.4	3579.7	3521.1	1673.4	2770.1	53.93	-7.81	143	770.61	0.00	0.00	0.00	0.000	0.000	0.000	3549.12	3578.56	3519.69	1673.88	2769.88	0	0	0	30.00	30.00	30.00
959.07	516	-146.63	-1.47	-80.00	3550.9	3579.9	3521.9	1672.3	2770.3	70.20	-8.84	162	965.11	0.00	0.00	3.51	0.000	0.000	0.120	3551.47	3581.44	3521.50	1673.56	1280.38	0	0	0	30.00	30.00	15.91
1003.35	1028	-146.63	-1.47	0.00	3551.0	3579.8	3522.2	1673.2	1280.0	75.09	-11.17	171	1010.76	0.00	0.00	3.31	0.000	0.000	0.064	3550.59	3579.25	3521.94	1673.75	2769.44	0	0	0	30.00	30.00	15.95
1194.92	260	-146.63	-1.47	80.00	3549.9	3579.2	3520.6	1673.4	2770.3	93.49	-9.75	191	1201.59	0.00	0.00	2.71	0.000	0.000	0.123	3550.28	3579.00	3521.56	1672.94	3913.38	0	0	0	30.00	30.00	15.92
1229.97	1028	-146.63	-1.47	0.00	3550.7	3580.4	3520.9	1673.1	3912.5	97.40	-10.90	198	1238.30	0.00	0.00	2.65	0.000	0.000	0.067	3549.91	3579.31	3520.50	1673.44	2723.25	0	0	0	30.00	30.00	15.96
1425.86	260	-146.63	-1.47	80.00	3550.1	3579.5	3520.8	1673.8	2722.8	117.28	-10.05	218	1432.58	0.00	0.00	2.84	0.000	0.000	0.119	3553.09	3581.56	3524.62	1672.75	3912.50	0	0	0	30.00	30.00	15.95
1466.80	1028	-146.63	-1.47	0.00	3550.3	3579.4	3521.2	1674.1	3913.2	121.96	-11.60	226	1473.42	0.00	0.00	2.66	0.000	0.000	0.068	3550.28	3579.06	3521.50	1673.94	2725.00	0	0	0	30.00	30.00	15.98
1663.48	0	-146.63	-1.47	0.00	3550.2	3580.1	3520.2	1674.1	2724.2	142.50	-10.53	246	1665.04	0.00	0.00	0.00	0.000	0.000	0.000	3549.03	3579.81	3518.25	1674.19	2725.69	0	0	0	30.00	30.00	30.00
1833	end dive: TARGET_DEPTH_EXCEEDED
state	1833	begin apogee
1836.13	10243	0.00	-0.32	0.00	3550.6	3579.3	3521.9	1673.6	2572.3	160.62	-10.73	263	1953.19	106.97	1.90	0.08	1.332	0.150	0.236	2951.12	3017.75	2884.50	1955.19	2626.75	0	0	0	12.00	15.93	15.51
1957	end apogee: CONTROL_FINISHED_OK
state	1957	begin climb
1958.18	10243	146.63	1.47	0.00	2947.4	3014.3	2880.4	1954.5	2626.0	163.30	0.00	274	2080.95	110.42	2.89	0.00	1.286	0.091	0.000	2349.34	2430.94	2267.75	2390.12	2625.62	0	0	0	11.89	15.55	30.00
2262.49	16646	146.63	1.47	80.00	2343.5	2421.6	2265.4	2389.9	2625.5	117.22	17.72	309	2269.33	0.00	0.00	3.10	0.000	0.000	0.118	2342.38	2420.56	2264.19	2389.75	3911.75	0	0	0	30.00	30.00	15.62
2303.82	17414	146.63	1.47	0.00	2341.9	2419.4	2264.4	2388.4	3910.9	109.57	18.89	317	2310.84	0.00	0.00	3.04	0.000	0.000	0.068	2343.28	2420.88	2265.69	2389.94	2577.75	0	0	0	30.00	30.00	15.68
2495.28	16646	146.63	1.47	80.00	2341.9	2418.7	2265.1	2389.6	2576.2	75.57	17.29	337	2502.16	0.00	0.00	3.19	0.000	0.000	0.119	2339.81	2416.25	2263.38	2389.75	3910.44	0	0	0	30.00	30.00	15.75
2556.48	17414	146.63	1.47	0.00	2340.8	2416.1	2265.5	2389.9	3910.1	64.01	18.59	349	2563.49	0.00	0.00	3.01	0.000	0.000	0.068	2340.47	2417.06	2263.88	2389.81	2575.94	0	0	0	30.00	30.00	15.80
2747.78	16646	146.63	1.47	80.00	2340.3	2416.1	2264.6	2389.8	2575.8	31.13	16.13	380	2755.72	0.00	0.00	3.19	0.000	0.000	0.119	2339.28	2415.88	2262.69	2390.38	3911.94	0	0	0	30.00	30.00	15.82
2790.04	17414	146.63	1.47	0.00	2339.5	2414.1	2264.9	2390.9	3910.1	24.22	16.63	388	2797.85	0.00	0.00	2.99	0.000	0.000	0.068	2338.88	2412.81	2264.94	2391.12	2574.44	0	0	0	30.00	30.00	15.87
2982.74	8742	208.83	1.55	-80.00	2339.5	2414.6	2264.3	2390.1	2575.2	2.77	5.84	425	3043.41	46.88	0.00	3.38	1.127	0.000	0.133	2096.38	2182.19	2010.56	2390.31	1188.69	0	0	0	12.10	30.00	15.69
3087.86	11303	342.48	1.71	0.00	2092.1	2174.8	2009.4	2391.0	1189.1	2.69	1.41	445	3201.67	97.37	0.33	3.23	1.120	0.076	0.057	1551.59	1640.50	1462.69	2456.00	2633.38	0	0	0	11.94	15.76	15.77
3206	end climb: SURFACE_DEPTH_REACHED
state	3206	begin surface coast
3458	end surface coast: CONTROL_FINISHED_OK
state	3458	begin surface