Glider dive log

HoodCanal 22May22 * SG235 * Dive index * Mission links * Dive 7 * 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 17 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 7 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 7 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 157.86443 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.581649 FG_AHR_24V 200.35539 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 -158.84331 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 157.86443 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 200.35539 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.581649 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 -158.84331 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 17 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 7 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 7 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 220522,220041,4736.009,-12257.014,1,1.1,4,15.5 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 -58.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,220536,4736.010,-12257.002,2,1.1,5,15.5 MHEAD_RNG_PITCHd_Wd 6.8,1981,-17.6,-10.000,-21.21,2209,0.164

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653260530,1.1,start _24V_AH 14.76,106.207

NET CACST,8,1,20220522224021.188204,06,453,26,0105,0150,134,02,02,00,02,1,045,121,3,5,7,4,150,9.7,5.85,-100,-2.85,-01,-0.56,53,10000,5000,0,5,01,01*5C _10V_AH 14.74,0.000

NET_PING 1653259211,25,1778.944580,17.299999,-2.364823 FG_AHR_24Vo 200.540

FREEZE 1.11,13.778,-1.482,0,1,0 FG_AHR_10Vo 157.894

FINISH 1.1,1.020212 MEM0 60148,1,0,0

SM_CCo 3355.96,270.29,1.112,0,541.7,612.7,470.7,590.76 MEM1 65508,1,0,0

SM_GC 1.50,270.29,13.35,0.41,1.112,0.078,0.094,541.7,612.7,470.7,215.2,2774.0,0,0,0,12.04,15.75,15.78 MEM2 942784,32,103484,83

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12925,434

IRIDIUM_FIX 4738.33,-12256.21,220522,211336 CAP_FILE_SIZE 302484,0

TCM_TEMP 12.89 SDSIZE 3918848,3883712

SC_FREEKB 3877248 SDFILEDIR 292,3

PM_FREEKB_00 61957504 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,-0.047221,0.020402,-0.061260,1.107655,-0.043515,0.007210,-0.002603,1.130462,-1000.9,-1081.6,-63.2,29,0.0286,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2007,15.86,247,2018.4,15.72

HUMID 48.51 IMPLIED_C_VBD 3086,25.715668,247,3017.8

TEMP 10.12 GPS 220522,230310,4736.364,-12256.702,1,1.0,15,15.5

INTERNAL_PRESSURE 7.90523

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 642 1312 12453.13 nil 0 0 0.00

Pitch_motor 29 269 116.77 nil 0 0 0.00

Roll_motor 25 251 92.66 nil 0 0 0.00

Iridium 207 192 590.58 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 2031 5 153.28 SciCon 3052 6 291.78

Fast 0 0 0.00 PMAR 3060 17 794.02

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1318 0 6.22

Compass 889 5 65.58

RAFOS 349 40 206.00

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

12.29 16386 -146.63 -1.31 0.00 540.8 608.3 473.2 217.7 2725.8 0.00 0.00 0 117.15 100.84 0.00 0.00 0.005 0.000 0.000 2919.47 2924.25 2914.69 217.62 2725.75 0 0 0 15.73 30.00 30.00

117.40 18983 -146.63 -1.31 -80.00 2917.2 2922.0 2912.3 217.4 2725.6 3.06 -1.69 20 158.47 17.23 11.78 3.51 0.006 0.269 0.126 3547.25 3575.31 3519.19 1712.44 1281.25 0 0 0 15.80 15.65 15.72

385.75 1028 -146.63 -1.31 0.00 3550.4 3580.7 3520.2 1713.6 1281.4 31.99 -8.68 72 392.31 0.00 0.00 3.40 0.000 0.000 0.067 3550.78 3579.94 3521.62 1712.69 2768.69 0 0 0 30.00 30.00 15.83

575.91 32 -146.63 -1.31 0.00 3550.6 3581.4 3519.9 1712.6 2768.5 45.71 -7.39 110 580.45 0.00 0.00 0.00 0.000 0.000 0.000 3550.12 3580.94 3519.31 1712.75 2767.75 0 0 0 30.00 30.00 30.00

765.92 0 -146.63 -1.31 0.00 3551.1 3582.3 3519.9 1712.8 2768.2 60.50 -8.46 135 767.48 0.00 0.00 0.00 0.000 0.000 0.000 3549.50 3580.31 3518.69 1712.44 2768.00 0 0 0 30.00 30.00 30.00

948.96 0 -146.63 -1.31 0.00 3550.9 3581.7 3520.2 1712.1 2768.2 75.99 -8.43 154 950.52 0.00 0.00 0.00 0.000 0.000 0.000 3549.53 3580.56 3518.50 1712.69 2768.81 0 0 0 30.00 30.00 30.00

1138.99 260 -146.63 -1.31 80.00 3550.6 3581.1 3520.1 1712.2 2768.5 93.20 -9.34 173 1144.65 0.00 0.00 2.76 0.000 0.000 0.130 3551.38 3582.44 3520.31 1712.44 3910.38 0 0 0 30.00 30.00 15.92

1203.28 1028 -146.63 -1.31 0.00 3550.4 3581.9 3518.9 1712.6 3911.4 99.84 -10.25 186 1210.39 0.00 0.00 2.71 0.000 0.000 0.070 3551.19 3581.69 3520.69 1712.38 2725.06 0 0 0 30.00 30.00 15.96

1399.03 0 -146.63 -1.31 0.00 3550.6 3581.6 3519.6 1712.9 2724.6 117.98 -9.20 206 1400.59 0.00 0.00 0.00 0.000 0.000 0.000 3548.97 3580.69 3517.25 1712.31 2724.38 0 0 0 30.00 30.00 30.00

1588.06 260 -146.63 -1.31 80.00 3550.6 3580.7 3520.5 1712.2 2724.7 135.62 -9.39 225 1593.77 0.00 0.00 2.85 0.000 0.000 0.128 3551.38 3582.19 3520.56 1713.12 3911.44 0 0 0 30.00 30.00 15.95

1642.35 1028 -146.63 -1.31 0.00 3549.8 3580.3 3519.3 1713.6 3913.6 141.33 -10.54 236 1649.46 0.00 0.00 2.72 0.000 0.000 0.072 3550.12 3580.50 3519.75 1713.19 2725.12 0 0 0 30.00 30.00 15.98

1738 end dive: TARGET_DEPTH_EXCEEDED

state 1738 begin apogee

1739.62 10243 0.00 -0.32 0.00 3550.3 3581.0 3519.6 1712.5 2575.6 150.57 -9.64 246 1854.32 105.74 1.63 0.08 1.312 0.146 0.251 2948.94 3016.31 2881.56 1953.44 2625.31 0 0 0 12.21 15.96 15.52

1859 end apogee: CONTROL_FINISHED_OK

state 1859 begin climb

1859.79 10243 146.63 1.31 0.00 2947.2 3014.5 2880.0 1954.0 2625.1 152.92 0.00 257 1980.74 108.98 2.64 0.00 1.270 0.095 0.000 2350.62 2434.12 2267.12 2351.75 2625.94 0 0 0 11.89 15.56 30.00

2168.11 16386 146.63 1.31 -80.00 2343.2 2421.3 2265.1 2351.4 2625.7 111.59 15.90 298 2169.68 0.00 0.00 0.00 0.000 0.000 0.000 2340.12 2418.31 2261.94 2351.31 2625.31 0 0 0 30.00 30.00 30.00

2358.15 16386 146.63 1.31 -80.00 2342.4 2420.2 2264.5 2351.2 2624.5 82.63 15.20 317 2359.70 0.00 0.00 0.00 0.000 0.000 0.000 2338.53 2416.62 2260.44 2350.38 2624.88 0 0 0 30.00 30.00 30.00

2548.16 16646 146.63 1.31 80.00 2341.9 2419.2 2264.6 2351.1 2624.4 54.40 15.18 336 2554.02 0.00 0.00 3.11 0.000 0.000 0.124 2340.38 2417.00 2263.75 2351.56 3911.00 0 0 0 30.00 30.00 15.79

2583.17 17414 146.63 1.31 0.00 2340.5 2417.4 2263.6 2351.4 3911.6 48.87 16.01 343 2589.70 0.00 0.00 3.08 0.000 0.000 0.071 2341.66 2418.38 2264.94 2351.25 2578.00 0 0 0 30.00 30.00 15.83

2771.65 16386 146.63 1.31 0.00 2340.9 2417.5 2264.3 2350.4 2578.2 22.10 12.35 380 2776.19 0.00 0.00 0.00 0.000 0.000 0.000 2340.38 2416.50 2264.25 2351.25 2578.06 0 0 0 30.00 30.00 30.00

2956.81 8226 209.50 1.39 0.00 2341.3 2418.9 2263.7 2350.7 2577.7 3.63 7.09 417 2998.82 39.79 0.00 0.00 1.120 0.000 0.000 2136.78 2223.00 2050.56 2351.88 2577.88 0 0 0 12.11 30.00 30.00

2999 end climb: SURFACE_DEPTH_REACHED

state 2999 begin surface coast

3043 end surface coast: CONTROL_FINISHED_OK

state 3043 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	17	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	7	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	7	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	157.86443	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.581649	FG_AHR_24V	200.35539	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	-158.84331	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	220522,220041,4736.009,-12257.014,1,1.1,4,15.5	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	-58.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,220536,4736.010,-12257.002,2,1.1,5,15.5	MHEAD_RNG_PITCHd_Wd	6.8,1981,-17.6,-10.000,-21.21,2209,0.164
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4737.000,-12256.400

NAV	1653260530,1.1,start	_24V_AH	14.76,106.207
NET	CACST,8,1,20220522224021.188204,06,453,26,0105,0150,134,02,02,00,02,1,045,121,3,5,7,4,150,9.7,5.85,-100,-2.85,-01,-0.56,53,10000,5000,0,5,01,01*5C	_10V_AH	14.74,0.000
NET_PING	1653259211,25,1778.944580,17.299999,-2.364823	FG_AHR_24Vo	200.540
FREEZE	1.11,13.778,-1.482,0,1,0	FG_AHR_10Vo	157.894
FINISH	1.1,1.020212	MEM0	60148,1,0,0
SM_CCo	3355.96,270.29,1.112,0,541.7,612.7,470.7,590.76	MEM1	65508,1,0,0
SM_GC	1.50,270.29,13.35,0.41,1.112,0.078,0.094,541.7,612.7,470.7,215.2,2774.0,0,0,0,12.04,15.75,15.78	MEM2	942784,32,103484,83
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12925,434
IRIDIUM_FIX	4738.33,-12256.21,220522,211336	CAP_FILE_SIZE	302484,0
TCM_TEMP	12.89	SDSIZE	3918848,3883712
SC_FREEKB	3877248	SDFILEDIR	292,3
PM_FREEKB_00	61957504	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,-0.047221,0.020402,-0.061260,1.107655,-0.043515,0.007210,-0.002603,1.130462,-1000.9,-1081.6,-63.2,29,0.0286,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2007,15.86,247,2018.4,15.72
HUMID	48.51	IMPLIED_C_VBD	3086,25.715668,247,3017.8
TEMP	10.12	GPS	220522,230310,4736.364,-12256.702,1,1.0,15,15.5
INTERNAL_PRESSURE	7.90523

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	642	1312	12453.13	nil	0	0	0.00
Pitch_motor	29	269	116.77	nil	0	0	0.00
Roll_motor	25	251	92.66	nil	0	0	0.00
Iridium	207	192	590.58	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	2031	5	153.28	SciCon	3052	6	291.78
Fast	0	0	0.00	PMAR	3060	17	794.02
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1318	0	6.22
Compass	889	5	65.58
RAFOS	349	40	206.00
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
12.29	16386	-146.63	-1.31	0.00	540.8	608.3	473.2	217.7	2725.8	0.00	0.00	0	117.15	100.84	0.00	0.00	0.005	0.000	0.000	2919.47	2924.25	2914.69	217.62	2725.75	0	0	0	15.73	30.00	30.00
117.40	18983	-146.63	-1.31	-80.00	2917.2	2922.0	2912.3	217.4	2725.6	3.06	-1.69	20	158.47	17.23	11.78	3.51	0.006	0.269	0.126	3547.25	3575.31	3519.19	1712.44	1281.25	0	0	0	15.80	15.65	15.72
385.75	1028	-146.63	-1.31	0.00	3550.4	3580.7	3520.2	1713.6	1281.4	31.99	-8.68	72	392.31	0.00	0.00	3.40	0.000	0.000	0.067	3550.78	3579.94	3521.62	1712.69	2768.69	0	0	0	30.00	30.00	15.83
575.91	32	-146.63	-1.31	0.00	3550.6	3581.4	3519.9	1712.6	2768.5	45.71	-7.39	110	580.45	0.00	0.00	0.00	0.000	0.000	0.000	3550.12	3580.94	3519.31	1712.75	2767.75	0	0	0	30.00	30.00	30.00
765.92	0	-146.63	-1.31	0.00	3551.1	3582.3	3519.9	1712.8	2768.2	60.50	-8.46	135	767.48	0.00	0.00	0.00	0.000	0.000	0.000	3549.50	3580.31	3518.69	1712.44	2768.00	0	0	0	30.00	30.00	30.00
948.96	0	-146.63	-1.31	0.00	3550.9	3581.7	3520.2	1712.1	2768.2	75.99	-8.43	154	950.52	0.00	0.00	0.00	0.000	0.000	0.000	3549.53	3580.56	3518.50	1712.69	2768.81	0	0	0	30.00	30.00	30.00
1138.99	260	-146.63	-1.31	80.00	3550.6	3581.1	3520.1	1712.2	2768.5	93.20	-9.34	173	1144.65	0.00	0.00	2.76	0.000	0.000	0.130	3551.38	3582.44	3520.31	1712.44	3910.38	0	0	0	30.00	30.00	15.92
1203.28	1028	-146.63	-1.31	0.00	3550.4	3581.9	3518.9	1712.6	3911.4	99.84	-10.25	186	1210.39	0.00	0.00	2.71	0.000	0.000	0.070	3551.19	3581.69	3520.69	1712.38	2725.06	0	0	0	30.00	30.00	15.96
1399.03	0	-146.63	-1.31	0.00	3550.6	3581.6	3519.6	1712.9	2724.6	117.98	-9.20	206	1400.59	0.00	0.00	0.00	0.000	0.000	0.000	3548.97	3580.69	3517.25	1712.31	2724.38	0	0	0	30.00	30.00	30.00
1588.06	260	-146.63	-1.31	80.00	3550.6	3580.7	3520.5	1712.2	2724.7	135.62	-9.39	225	1593.77	0.00	0.00	2.85	0.000	0.000	0.128	3551.38	3582.19	3520.56	1713.12	3911.44	0	0	0	30.00	30.00	15.95
1642.35	1028	-146.63	-1.31	0.00	3549.8	3580.3	3519.3	1713.6	3913.6	141.33	-10.54	236	1649.46	0.00	0.00	2.72	0.000	0.000	0.072	3550.12	3580.50	3519.75	1713.19	2725.12	0	0	0	30.00	30.00	15.98
1738	end dive: TARGET_DEPTH_EXCEEDED
state	1738	begin apogee
1739.62	10243	0.00	-0.32	0.00	3550.3	3581.0	3519.6	1712.5	2575.6	150.57	-9.64	246	1854.32	105.74	1.63	0.08	1.312	0.146	0.251	2948.94	3016.31	2881.56	1953.44	2625.31	0	0	0	12.21	15.96	15.52
1859	end apogee: CONTROL_FINISHED_OK
state	1859	begin climb
1859.79	10243	146.63	1.31	0.00	2947.2	3014.5	2880.0	1954.0	2625.1	152.92	0.00	257	1980.74	108.98	2.64	0.00	1.270	0.095	0.000	2350.62	2434.12	2267.12	2351.75	2625.94	0	0	0	11.89	15.56	30.00
2168.11	16386	146.63	1.31	-80.00	2343.2	2421.3	2265.1	2351.4	2625.7	111.59	15.90	298	2169.68	0.00	0.00	0.00	0.000	0.000	0.000	2340.12	2418.31	2261.94	2351.31	2625.31	0	0	0	30.00	30.00	30.00
2358.15	16386	146.63	1.31	-80.00	2342.4	2420.2	2264.5	2351.2	2624.5	82.63	15.20	317	2359.70	0.00	0.00	0.00	0.000	0.000	0.000	2338.53	2416.62	2260.44	2350.38	2624.88	0	0	0	30.00	30.00	30.00
2548.16	16646	146.63	1.31	80.00	2341.9	2419.2	2264.6	2351.1	2624.4	54.40	15.18	336	2554.02	0.00	0.00	3.11	0.000	0.000	0.124	2340.38	2417.00	2263.75	2351.56	3911.00	0	0	0	30.00	30.00	15.79
2583.17	17414	146.63	1.31	0.00	2340.5	2417.4	2263.6	2351.4	3911.6	48.87	16.01	343	2589.70	0.00	0.00	3.08	0.000	0.000	0.071	2341.66	2418.38	2264.94	2351.25	2578.00	0	0	0	30.00	30.00	15.83
2771.65	16386	146.63	1.31	0.00	2340.9	2417.5	2264.3	2350.4	2578.2	22.10	12.35	380	2776.19	0.00	0.00	0.00	0.000	0.000	0.000	2340.38	2416.50	2264.25	2351.25	2578.06	0	0	0	30.00	30.00	30.00
2956.81	8226	209.50	1.39	0.00	2341.3	2418.9	2263.7	2350.7	2577.7	3.63	7.09	417	2998.82	39.79	0.00	0.00	1.120	0.000	0.000	2136.78	2223.00	2050.56	2351.88	2577.88	0	0	0	12.11	30.00	30.00
2999	end climb: SURFACE_DEPTH_REACHED
state	2999	begin surface coast
3043	end surface coast: CONTROL_FINISHED_OK
state	3043	begin surface