Glider dive log

HoodCanal 24May22.01 * 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 20 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 4 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 85 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 159.02669 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.83927 FG_AHR_24V 205.02951 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 159.02669 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 205.02951 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.83927 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 85

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 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 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 250522,040836,4736.523,-12256.275,1,1.2,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,041241,4736.554,-12256.241,2,1.2,4,15.5 MHEAD_RNG_PITCHd_Wd 207.2,1396,-17.1,-9.697,-20.82,2278,0.132

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,-0.026193,-0.027332,-0.089737,1.076743,-0.038485,0.059152,-0.036609,1.069626,-958.013611,-1066.924683,3.839802

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,0,20220525050332.232031,06,19185,42,0287,0150,22,01,01,00,01,1,025,121,0,5,2,0,150,20.1,11.24,-100,-8.24,-01,-0.10,38,10000,5000,0,5,00,00*6D _24V_AH 14.96,110.911

NAV 1653455231,31.8,0,stop _10V_AH 14.95,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 205.221

FREEZE 2.50,14.019,-1.420,0,1,0 FG_AHR_10Vo 159.070

SM_CCo 4069.91,211.98,1.096,0,500.5,576.7,424.3,600.86 MEM0 60132,1,0,0

SM_GC 1.37,0.00,13.57,3.79,0.000,0.049,0.063,497.4,570.4,424.5,209.1,2766.1,0,0,0,30.00,15.45,15.46 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 942852,26,103616,79

IRIDIUM_FIX 4736.00,-12258.89,250522,025727 DATA_FILE_SIZE 16120,596

TCM_TEMP 13.76 CAP_FILE_SIZE 402530,0

SC_FREEKB 3877408 SDSIZE 3918848,3881792

PM_FREEKB_00 61980864 SDFILEDIR 292,3

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

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,-0.040420,0.006061,-0.075623,1.110009,-0.052738,0.029578,-0.018939,1.154289,-985.5,-1071.0,-64.7,34,0.0344,1

HUMID 48.38 IMPLIED_C_PITCH 2013,15.91,276,2021.6,15.88

TEMP 11.20 IMPLIED_C_VBD 3140,26.736689,276,3044.9

INTERNAL_PRESSURE 7.95395 GPS 250522,052402,4736.393,-12256.605,20,1.2,21,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 1336 13113.46 nil 0 0 0.00

Pitch_motor 29 259 115.32 nil 0 0 0.00

Roll_motor 63 237 227.15 nil 0 0 0.00

Iridium 151 239 543.07 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2467 5 188.91 SciCon 3858 8 495.33

Fast 0 0 0.00 PMAR 3861 17 1022.54

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1718 0 8.22

Compass 1202 5 89.91

RAFOS 857 40 512.60

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

10.94 16386 -146.63 -1.26 0.00 537.4 598.3 476.6 214.2 2727.9 0.00 0.00 0 99.26 84.82 0.00 0.00 0.005 0.000 0.000 2567.88 2570.44 2565.31 214.12 2728.00 0 0 0 15.45 30.00 30.00

99.52 18983 -146.63 -1.26 -80.00 2568.6 2570.7 2566.5 214.0 2727.2 3.39 -2.38 16 151.56 28.25 11.77 3.52 0.006 0.260 0.122 3545.28 3571.38 3519.19 1724.25 1277.25 0 0 0 15.79 15.64 15.72

379.93 1060 -146.63 -1.26 0.00 3547.5 3576.2 3518.8 1724.9 1277.9 21.14 -6.29 71 386.48 0.00 0.00 3.52 0.000 0.000 0.061 3547.25 3575.19 3519.31 1725.44 2765.44 0 0 0 30.00 30.00 15.84

568.05 292 -146.63 -1.26 80.00 3548.2 3577.3 3519.2 1725.3 2766.2 31.24 -5.47 109 574.46 0.00 0.00 2.90 0.000 0.000 0.118 3549.06 3578.62 3519.50 1725.38 3912.62 0 0 0 30.00 30.00 15.86

800.83 1060 -146.63 -1.26 0.00 3546.5 3575.2 3517.9 1725.1 3911.9 45.82 -6.63 155 807.18 0.00 0.00 2.73 0.000 0.000 0.064 3549.25 3577.88 3520.62 1724.06 2722.81 0 0 0 30.00 30.00 15.92

994.22 292 -146.63 -1.26 80.00 3549.6 3579.2 3519.9 1725.1 2723.4 58.51 -7.01 181 999.93 0.00 0.00 2.99 0.000 0.000 0.117 3549.06 3578.19 3519.94 1725.19 3909.44 0 0 0 30.00 30.00 15.90

1228.69 1028 -146.63 -1.26 0.00 3548.4 3578.0 3518.8 1725.2 3909.4 78.61 -8.39 227 1234.36 0.00 0.00 2.71 0.000 0.000 0.066 3549.38 3578.00 3520.75 1724.56 2725.69 0 0 0 30.00 30.00 15.93

1418.72 260 -146.63 -1.26 80.00 3549.5 3578.9 3520.1 1725.1 2726.6 93.59 -8.07 247 1424.48 0.00 0.00 2.98 0.000 0.000 0.119 3549.66 3579.56 3519.75 1725.06 3910.62 0 0 0 30.00 30.00 15.92

1503.01 1028 -146.63 -1.26 0.00 3548.9 3578.4 3519.4 1725.3 3911.1 101.09 -8.99 264 1510.13 0.00 0.00 2.71 0.000 0.000 0.067 3548.44 3577.88 3519.00 1724.81 2724.75 0 0 0 30.00 30.00 15.97

1693.77 0 -146.63 -1.26 0.00 3549.9 3579.4 3520.4 1725.4 2725.8 117.33 -8.68 284 1695.33 0.00 0.00 0.00 0.000 0.000 0.000 3548.38 3577.94 3518.81 1724.50 2725.12 0 0 0 30.00 30.00 30.00

1883.79 260 -146.63 -1.26 80.00 3549.5 3579.2 3519.8 1724.4 2724.9 132.88 -8.43 303 1889.56 0.00 0.00 2.99 0.000 0.000 0.122 3498.19 3474.19 3522.19 1723.56 3911.81 0 0 0 30.00 30.00 15.96

1953.82 1028 -146.63 -1.26 0.00 3548.0 3577.9 3518.1 1725.9 3909.9 139.51 -9.62 317 1959.42 0.00 0.00 2.70 0.000 0.000 0.068 3549.25 3578.56 3519.94 1723.94 2725.62 0 0 0 30.00 30.00 16.00

2143.84 0 -146.63 -1.26 0.00 3548.8 3578.1 3519.4 1724.9 2726.5 155.47 -8.16 337 2145.40 0.00 0.00 0.00 0.000 0.000 0.000 3548.50 3578.50 3518.50 1725.06 2726.62 0 0 0 30.00 30.00 30.00

2203 end dive: TARGET_DEPTH_EXCEEDED

state 2203 begin apogee

2204.28 10243 0.00 -0.32 0.00 3549.1 3578.5 3519.7 1725.0 2574.6 160.28 -8.21 343 2319.07 105.82 1.54 0.08 1.337 0.141 0.238 2947.00 3015.56 2878.44 1956.56 2622.38 0 0 0 12.18 15.97 15.55

2330 end apogee: CONTROL_FINISHED_OK

state 2330 begin climb

2330.62 10759 146.63 1.26 -80.00 2946.5 3013.3 2879.8 1956.2 2622.9 161.89 0.00 354 2457.41 110.48 2.53 3.64 1.283 0.094 0.132 2349.94 2433.81 2266.06 2339.25 1188.88 0 0 0 11.85 15.59 15.32

2465.81 1028 146.63 1.26 0.00 2347.5 2428.1 2266.9 2339.9 1189.1 147.05 15.86 378 2471.81 0.00 0.00 3.42 0.000 0.000 0.059 2347.88 2428.31 2267.44 2339.06 2619.31 0 0 0 30.00 30.00 15.42

2655.82 16646 146.63 1.26 80.00 2343.1 2422.1 2264.1 2340.1 2619.8 116.43 15.80 398 2661.74 0.00 0.00 3.30 0.000 0.000 0.125 2342.25 2420.25 2264.25 2339.50 3910.62 0 0 0 30.00 30.00 15.63

2710.11 17414 146.63 1.26 0.00 2342.0 2420.2 2263.8 2340.2 3910.3 107.35 16.47 409 2717.37 0.00 0.00 3.10 0.000 0.000 0.069 2344.03 2422.69 2265.38 2338.94 2576.88 0 0 0 30.00 30.00 15.70

2899.24 16386 146.63 1.26 0.00 2342.1 2420.3 2263.9 2339.8 2576.4 78.91 14.94 428 2900.81 0.00 0.00 0.00 0.000 0.000 0.000 2338.06 2416.31 2259.81 2340.12 2574.88 0 0 0 30.00 30.00 30.00

3089.26 16646 146.63 1.26 80.00 2340.7 2418.9 2262.5 2340.2 2576.3 51.74 13.80 447 3095.20 0.00 0.00 3.38 0.000 0.000 0.119 2340.22 2417.81 2262.62 2339.50 3909.12 0 0 0 30.00 30.00 15.78

3114.26 17414 146.63 1.26 0.00 2340.1 2417.1 2263.1 2340.1 3909.8 48.13 14.18 452 3120.79 0.00 0.00 3.09 0.000 0.000 0.068 2339.44 2416.06 2262.81 2340.38 2577.06 0 0 0 30.00 30.00 15.81

3304.31 16646 146.63 1.26 80.00 2340.2 2417.9 2262.5 2339.8 2578.2 22.57 13.00 490 3310.98 0.00 0.00 3.36 0.000 0.000 0.120 2339.16 2416.56 2261.75 2339.56 3909.38 0 0 0 30.00 30.00 15.82

3374.39 17414 146.63 1.26 0.00 2339.0 2415.1 2262.9 2339.7 3911.4 12.97 13.17 504 3380.91 0.00 0.00 3.07 0.000 0.000 0.068 2338.03 2412.94 2263.12 2340.00 2577.56 0 0 0 30.00 30.00 15.88

3563.55 10791 303.62 1.45 -80.00 2338.5 2414.4 2262.7 2340.5 2577.2 3.81 2.65 542 3690.41 114.44 0.25 3.48 1.134 0.078 0.133 1708.09 1800.31 1615.88 2393.25 1188.62 0 0 0 12.14 15.91 15.49

3844 end climb: NO_VERTICAL_VELOCITY

state 3844 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	4	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	85	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	159.02669	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.83927	FG_AHR_24V	205.02951	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	250522,040836,4736.523,-12256.275,1,1.2,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,041241,4736.554,-12256.241,2,1.2,4,15.5	MHEAD_RNG_PITCHd_Wd	207.2,1396,-17.1,-9.697,-20.82,2278,0.132
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.026193,-0.027332,-0.089737,1.076743,-0.038485,0.059152,-0.036609,1.069626,-958.013611,-1066.924683,3.839802
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,0,20220525050332.232031,06,19185,42,0287,0150,22,01,01,00,01,1,025,121,0,5,2,0,150,20.1,11.24,-100,-8.24,-01,-0.10,38,10000,5000,0,5,00,00*6D	_24V_AH	14.96,110.911
NAV	1653455231,31.8,0,stop	_10V_AH	14.95,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	205.221
FREEZE	2.50,14.019,-1.420,0,1,0	FG_AHR_10Vo	159.070
SM_CCo	4069.91,211.98,1.096,0,500.5,576.7,424.3,600.86	MEM0	60132,1,0,0
SM_GC	1.37,0.00,13.57,3.79,0.000,0.049,0.063,497.4,570.4,424.5,209.1,2766.1,0,0,0,30.00,15.45,15.46	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	942852,26,103616,79
IRIDIUM_FIX	4736.00,-12258.89,250522,025727	DATA_FILE_SIZE	16120,596
TCM_TEMP	13.76	CAP_FILE_SIZE	402530,0
SC_FREEKB	3877408	SDSIZE	3918848,3881792
PM_FREEKB_00	61980864	SDFILEDIR	292,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,-0.040420,0.006061,-0.075623,1.110009,-0.052738,0.029578,-0.018939,1.154289,-985.5,-1071.0,-64.7,34,0.0344,1
HUMID	48.38	IMPLIED_C_PITCH	2013,15.91,276,2021.6,15.88
TEMP	11.20	IMPLIED_C_VBD	3140,26.736689,276,3044.9
INTERNAL_PRESSURE	7.95395	GPS	250522,052402,4736.393,-12256.605,20,1.2,21,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	1336	13113.46	nil	0	0	0.00
Pitch_motor	29	259	115.32	nil	0	0	0.00
Roll_motor	63	237	227.15	nil	0	0	0.00
Iridium	151	239	543.07	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2467	5	188.91	SciCon	3858	8	495.33
Fast	0	0	0.00	PMAR	3861	17	1022.54
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1718	0	8.22
Compass	1202	5	89.91
RAFOS	857	40	512.60
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
10.94	16386	-146.63	-1.26	0.00	537.4	598.3	476.6	214.2	2727.9	0.00	0.00	0	99.26	84.82	0.00	0.00	0.005	0.000	0.000	2567.88	2570.44	2565.31	214.12	2728.00	0	0	0	15.45	30.00	30.00
99.52	18983	-146.63	-1.26	-80.00	2568.6	2570.7	2566.5	214.0	2727.2	3.39	-2.38	16	151.56	28.25	11.77	3.52	0.006	0.260	0.122	3545.28	3571.38	3519.19	1724.25	1277.25	0	0	0	15.79	15.64	15.72
379.93	1060	-146.63	-1.26	0.00	3547.5	3576.2	3518.8	1724.9	1277.9	21.14	-6.29	71	386.48	0.00	0.00	3.52	0.000	0.000	0.061	3547.25	3575.19	3519.31	1725.44	2765.44	0	0	0	30.00	30.00	15.84
568.05	292	-146.63	-1.26	80.00	3548.2	3577.3	3519.2	1725.3	2766.2	31.24	-5.47	109	574.46	0.00	0.00	2.90	0.000	0.000	0.118	3549.06	3578.62	3519.50	1725.38	3912.62	0	0	0	30.00	30.00	15.86
800.83	1060	-146.63	-1.26	0.00	3546.5	3575.2	3517.9	1725.1	3911.9	45.82	-6.63	155	807.18	0.00	0.00	2.73	0.000	0.000	0.064	3549.25	3577.88	3520.62	1724.06	2722.81	0	0	0	30.00	30.00	15.92
994.22	292	-146.63	-1.26	80.00	3549.6	3579.2	3519.9	1725.1	2723.4	58.51	-7.01	181	999.93	0.00	0.00	2.99	0.000	0.000	0.117	3549.06	3578.19	3519.94	1725.19	3909.44	0	0	0	30.00	30.00	15.90
1228.69	1028	-146.63	-1.26	0.00	3548.4	3578.0	3518.8	1725.2	3909.4	78.61	-8.39	227	1234.36	0.00	0.00	2.71	0.000	0.000	0.066	3549.38	3578.00	3520.75	1724.56	2725.69	0	0	0	30.00	30.00	15.93
1418.72	260	-146.63	-1.26	80.00	3549.5	3578.9	3520.1	1725.1	2726.6	93.59	-8.07	247	1424.48	0.00	0.00	2.98	0.000	0.000	0.119	3549.66	3579.56	3519.75	1725.06	3910.62	0	0	0	30.00	30.00	15.92
1503.01	1028	-146.63	-1.26	0.00	3548.9	3578.4	3519.4	1725.3	3911.1	101.09	-8.99	264	1510.13	0.00	0.00	2.71	0.000	0.000	0.067	3548.44	3577.88	3519.00	1724.81	2724.75	0	0	0	30.00	30.00	15.97
1693.77	0	-146.63	-1.26	0.00	3549.9	3579.4	3520.4	1725.4	2725.8	117.33	-8.68	284	1695.33	0.00	0.00	0.00	0.000	0.000	0.000	3548.38	3577.94	3518.81	1724.50	2725.12	0	0	0	30.00	30.00	30.00
1883.79	260	-146.63	-1.26	80.00	3549.5	3579.2	3519.8	1724.4	2724.9	132.88	-8.43	303	1889.56	0.00	0.00	2.99	0.000	0.000	0.122	3498.19	3474.19	3522.19	1723.56	3911.81	0	0	0	30.00	30.00	15.96
1953.82	1028	-146.63	-1.26	0.00	3548.0	3577.9	3518.1	1725.9	3909.9	139.51	-9.62	317	1959.42	0.00	0.00	2.70	0.000	0.000	0.068	3549.25	3578.56	3519.94	1723.94	2725.62	0	0	0	30.00	30.00	16.00
2143.84	0	-146.63	-1.26	0.00	3548.8	3578.1	3519.4	1724.9	2726.5	155.47	-8.16	337	2145.40	0.00	0.00	0.00	0.000	0.000	0.000	3548.50	3578.50	3518.50	1725.06	2726.62	0	0	0	30.00	30.00	30.00
2203	end dive: TARGET_DEPTH_EXCEEDED
state	2203	begin apogee
2204.28	10243	0.00	-0.32	0.00	3549.1	3578.5	3519.7	1725.0	2574.6	160.28	-8.21	343	2319.07	105.82	1.54	0.08	1.337	0.141	0.238	2947.00	3015.56	2878.44	1956.56	2622.38	0	0	0	12.18	15.97	15.55
2330	end apogee: CONTROL_FINISHED_OK
state	2330	begin climb
2330.62	10759	146.63	1.26	-80.00	2946.5	3013.3	2879.8	1956.2	2622.9	161.89	0.00	354	2457.41	110.48	2.53	3.64	1.283	0.094	0.132	2349.94	2433.81	2266.06	2339.25	1188.88	0	0	0	11.85	15.59	15.32
2465.81	1028	146.63	1.26	0.00	2347.5	2428.1	2266.9	2339.9	1189.1	147.05	15.86	378	2471.81	0.00	0.00	3.42	0.000	0.000	0.059	2347.88	2428.31	2267.44	2339.06	2619.31	0	0	0	30.00	30.00	15.42
2655.82	16646	146.63	1.26	80.00	2343.1	2422.1	2264.1	2340.1	2619.8	116.43	15.80	398	2661.74	0.00	0.00	3.30	0.000	0.000	0.125	2342.25	2420.25	2264.25	2339.50	3910.62	0	0	0	30.00	30.00	15.63
2710.11	17414	146.63	1.26	0.00	2342.0	2420.2	2263.8	2340.2	3910.3	107.35	16.47	409	2717.37	0.00	0.00	3.10	0.000	0.000	0.069	2344.03	2422.69	2265.38	2338.94	2576.88	0	0	0	30.00	30.00	15.70
2899.24	16386	146.63	1.26	0.00	2342.1	2420.3	2263.9	2339.8	2576.4	78.91	14.94	428	2900.81	0.00	0.00	0.00	0.000	0.000	0.000	2338.06	2416.31	2259.81	2340.12	2574.88	0	0	0	30.00	30.00	30.00
3089.26	16646	146.63	1.26	80.00	2340.7	2418.9	2262.5	2340.2	2576.3	51.74	13.80	447	3095.20	0.00	0.00	3.38	0.000	0.000	0.119	2340.22	2417.81	2262.62	2339.50	3909.12	0	0	0	30.00	30.00	15.78
3114.26	17414	146.63	1.26	0.00	2340.1	2417.1	2263.1	2340.1	3909.8	48.13	14.18	452	3120.79	0.00	0.00	3.09	0.000	0.000	0.068	2339.44	2416.06	2262.81	2340.38	2577.06	0	0	0	30.00	30.00	15.81
3304.31	16646	146.63	1.26	80.00	2340.2	2417.9	2262.5	2339.8	2578.2	22.57	13.00	490	3310.98	0.00	0.00	3.36	0.000	0.000	0.120	2339.16	2416.56	2261.75	2339.56	3909.38	0	0	0	30.00	30.00	15.82
3374.39	17414	146.63	1.26	0.00	2339.0	2415.1	2262.9	2339.7	3911.4	12.97	13.17	504	3380.91	0.00	0.00	3.07	0.000	0.000	0.068	2338.03	2412.94	2263.12	2340.00	2577.56	0	0	0	30.00	30.00	15.88
3563.55	10791	303.62	1.45	-80.00	2338.5	2414.4	2262.7	2340.5	2577.2	3.81	2.65	542	3690.41	114.44	0.25	3.48	1.134	0.078	0.133	1708.09	1800.31	1615.88	2393.25	1188.62	0	0	0	12.14	15.91	15.49
3844	end climb: NO_VERTICAL_VELOCITY
state	3844	begin surface