Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 9 * 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 9 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 159.22066 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.862417 FG_AHR_24V 206.03809 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 159.22066 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 206.03809 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.862417 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 9 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 250522,102910,4736.796,-12256.467,19,1.8,21,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,103313,4736.835,-12256.426,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 189.4,1706,-17.1,-9.697,-20.82,2278,0.116

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,-0.019710,0.021039,-0.063440,1.095625,0.010264,0.018092,-0.010210,1.114384,-1007.118286,-1110.731201,-55.410366

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,0,20220525111332.147425,06,6075,37,0114,0150,44,01,01,00,01,1,025,121,0,5,2,0,150,16.3,4.00,-100,-1.00,-01,0.06,45,10000,5000,0,5,00,00*48 _10V_AH 14.75,0.000

FREEZE 1.62,13.611,-1.430,0,1,0 FG_AHR_24Vo 206.225

FINISH 1.6,1.019527 FG_AHR_10Vo 159.254

SM_CCo 3826.78,134.24,1.102,0,541.9,607.6,476.2,590.70 MEM0 60132,1,0,0

SM_GC 1.39,134.24,14.06,0.44,1.102,0.074,0.084,541.9,607.6,476.2,216.6,2772.9,0,0,0,11.92,15.42,15.46 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 942900,24,103608,79

IRIDIUM_FIX 4738.90,-12358.25,250522,091718 DATA_FILE_SIZE 12958,537

TCM_TEMP 13.22 CAP_FILE_SIZE 372700,0

SC_FREEKB 3875808 SDSIZE 3918848,3880064

PM_FREEKB_00 61522688 SDFILEDIR 337,3

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

RAFOS_CLK -10 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,-0.031486,0.017271,-0.060330,1.101528,0.001196,0.016423,-0.012261,1.112747,-1002.8,-1105.4,-51.9,35,0.0246,1

HUMID 48.66 IMPLIED_C_PITCH 2016,16.06,274,2023.1,15.96

TEMP 10.26 IMPLIED_C_VBD 3127,23.745020,274,3038.4

INTERNAL_PRESSURE 7.91545 GPS 250522,113810,4736.650,-12256.488,1,1.0,2,15.5

_24V_AH 14.79,112.026

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1339 12784.78 nil 0 0 0.00

Pitch_motor 30 272 123.53 nil 0 0 0.00

Roll_motor 63 230 216.49 nil 0 0 0.00

Iridium 150 218 486.87 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 2334 5 176.30 SciCon 3669 6 349.17

Fast 0 0 0.00 PMAR 3675 17 960.48

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1569 0 7.41

Compass 1087 5 80.19

RAFOS 0 0 0.00

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

10.97 16386 -146.63 -1.26 0.00 537.4 597.6 477.1 215.3 2723.4 0.00 0.00 0 94.06 79.76 0.00 0.00 0.005 0.000 0.000 2443.31 2447.62 2439.00 215.44 2723.81 0 0 0 15.42 30.00 30.00

94.31 18727 -146.63 -1.26 80.00 2444.2 2449.2 2439.2 215.2 2724.0 3.08 -2.09 15 150.14 32.57 12.04 3.04 0.006 0.273 0.121 3546.25 3572.12 3520.38 1726.00 3911.50 0 0 0 15.78 15.62 15.70

378.51 1060 -146.63 -1.26 0.00 3547.1 3573.4 3520.9 1725.9 3911.6 25.20 -6.93 71 384.70 0.00 0.00 2.74 0.000 0.000 0.066 3546.75 3572.69 3520.81 1726.62 2724.06 0 0 0 30.00 30.00 15.83

566.71 548 -146.63 -1.26 -80.00 3549.0 3575.9 3522.0 1726.8 2724.4 36.49 -6.07 108 573.59 0.00 0.00 3.53 0.000 0.000 0.124 3548.59 3576.00 3521.19 1727.06 1281.88 0 0 0 30.00 30.00 15.83

767.04 1028 -146.63 -1.26 0.00 3548.9 3575.8 3522.1 1726.7 1281.6 52.79 -8.85 148 773.06 0.00 0.00 3.45 0.000 0.000 0.063 3550.19 3578.06 3522.31 1725.62 2773.12 0 0 0 30.00 30.00 15.91

957.11 292 -146.63 -1.26 80.00 3548.9 3576.2 3521.6 1726.0 2772.1 66.71 -7.57 168 962.77 0.00 0.00 2.83 0.000 0.000 0.122 3549.09 3577.31 3520.88 1726.88 3907.88 0 0 0 30.00 30.00 15.90

1077.11 1028 -146.63 -1.26 0.00 3548.1 3575.7 3520.4 1725.9 3908.2 76.96 -8.71 192 1082.76 0.00 0.00 2.73 0.000 0.000 0.066 3548.41 3575.81 3521.00 1727.19 2726.25 0 0 0 30.00 30.00 15.95

1267.15 260 -146.63 -1.26 80.00 3549.5 3576.7 3522.2 1725.6 2724.7 92.28 -7.91 212 1272.86 0.00 0.00 2.96 0.000 0.000 0.119 3522.19 3522.69 3521.69 1725.12 3910.88 0 0 0 30.00 30.00 15.93

1317.14 1028 -146.63 -1.26 0.00 3549.2 3576.4 3521.9 1726.5 3908.9 96.76 -9.15 222 1322.80 0.00 0.00 2.73 0.000 0.000 0.067 3549.19 3577.12 3521.25 1726.50 2725.88 0 0 0 30.00 30.00 15.97

1507.16 0 -146.63 -1.26 0.00 3549.8 3577.0 3522.7 1726.5 2726.0 112.41 -7.93 242 1508.72 0.00 0.00 0.00 0.000 0.000 0.000 3547.72 3575.00 3520.44 1726.81 2725.00 0 0 0 30.00 30.00 30.00

1695.19 260 -146.63 -1.26 80.00 3549.0 3577.4 3520.7 1726.2 2725.6 127.13 -7.70 261 1700.95 0.00 0.00 2.97 0.000 0.000 0.121 3549.06 3577.19 3520.94 1726.38 3910.88 0 0 0 30.00 30.00 15.96

1725.20 1028 -146.63 -1.26 0.00 3549.0 3576.9 3521.1 1725.9 3912.4 129.62 -8.00 267 1730.87 0.00 0.00 2.72 0.000 0.000 0.068 3548.34 3576.31 3520.38 1726.00 2726.88 0 0 0 30.00 30.00 16.00

1915.23 0 -146.63 -1.26 0.00 3549.9 3577.6 3522.2 1726.0 2727.1 144.92 -8.25 287 1916.79 0.00 0.00 0.00 0.000 0.000 0.000 3547.78 3575.19 3520.38 1726.38 2727.19 0 0 0 30.00 30.00 30.00

2095 end dive: TARGET_DEPTH_EXCEEDED

state 2095 begin apogee

2096.68 10243 0.00 -0.32 0.00 3548.9 3576.7 3521.1 1726.1 2575.1 160.40 -8.64 305 2211.41 105.95 1.53 0.08 1.339 0.141 0.230 2949.16 3015.12 2883.19 1956.50 2625.94 0 0 0 12.13 15.97 15.55

2214 end apogee: CONTROL_FINISHED_OK

state 2214 begin climb

2215.01 10759 146.63 1.26 -80.00 2947.2 3013.2 2881.1 1956.3 2625.8 162.48 0.00 316 2340.52 110.07 2.53 3.67 1.283 0.093 0.132 2346.84 2431.12 2262.56 2339.44 1189.94 0 0 0 12.07 15.56 15.31

2343.28 1028 146.63 1.26 0.00 2348.0 2429.3 2266.8 2340.7 1188.9 149.39 13.52 332 2350.65 0.00 0.00 3.42 0.000 0.000 0.059 2349.00 2430.12 2267.88 2339.75 2620.75 0 0 0 30.00 30.00 15.40

2538.94 16646 146.63 1.26 80.00 2343.0 2422.2 2263.8 2339.7 2620.8 118.64 16.23 352 2544.88 0.00 0.00 3.31 0.000 0.000 0.126 2341.59 2420.38 2262.81 2340.25 3910.19 0 0 0 30.00 30.00 15.62

2588.95 17414 146.63 1.26 0.00 2341.7 2420.1 2263.4 2339.2 3910.4 110.49 16.01 362 2594.81 0.00 0.00 3.13 0.000 0.000 0.069 2341.81 2421.31 2262.31 2340.56 2578.50 0 0 0 30.00 30.00 15.69

2784.98 16646 146.63 1.26 80.00 2341.1 2419.5 2262.7 2339.8 2579.5 82.22 14.20 383 2790.93 0.00 0.00 3.37 0.000 0.000 0.120 2339.47 2417.88 2261.06 2339.62 3910.75 0 0 0 30.00 30.00 15.75

2814.99 17414 146.63 1.26 0.00 2340.8 2418.3 2263.2 2339.6 3910.1 77.64 15.42 389 2820.84 0.00 0.00 3.11 0.000 0.000 0.068 2339.50 2417.62 2261.38 2339.75 2577.75 0 0 0 30.00 30.00 15.79

3005.03 16646 146.63 1.26 80.00 2340.5 2418.2 2262.9 2340.4 2576.6 50.69 13.97 409 3010.96 0.00 0.00 3.36 0.000 0.000 0.120 2340.28 2419.81 2260.75 2340.38 3908.06 0 0 0 30.00 30.00 15.81

3040.02 17414 146.63 1.26 0.00 2339.8 2417.2 2262.5 2339.8 3909.2 45.49 15.17 416 3046.55 0.00 0.00 3.09 0.000 0.000 0.068 2339.06 2416.38 2261.75 2339.50 2576.19 0 0 0 30.00 30.00 15.85

3230.07 16386 146.63 1.26 0.00 2340.0 2417.6 2262.4 2339.9 2576.3 20.19 12.78 454 3234.62 0.00 0.00 0.00 0.000 0.000 0.000 2338.41 2416.44 2260.38 2339.69 2577.00 0 0 0 30.00 30.00 30.00

3415.23 10535 251.57 1.39 80.00 2339.3 2416.8 2261.8 2339.4 2576.9 3.83 4.98 491 3504.97 77.29 0.16 3.42 1.134 0.099 0.118 1920.91 2010.44 1831.38 2377.50 3909.81 0 0 0 12.09 15.91 15.60

3538.46 11303 456.56 1.64 0.00 1918.4 2006.7 1830.1 2377.9 3909.1 3.71 0.49 515 3654.03 105.54 0.31 3.14 1.101 0.075 0.064 1329.16 1426.62 1231.69 2439.19 2573.75 0 0 0 11.99 15.66 15.68

3654 end climb: SURFACE_DEPTH_REACHED

state 3654 begin surface coast

3658 end surface coast: CONTROL_FINISHED_OK

state 3658 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	9	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	159.22066	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.862417	FG_AHR_24V	206.03809	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	250522,102910,4736.796,-12256.467,19,1.8,21,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,103313,4736.835,-12256.426,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	189.4,1706,-17.1,-9.697,-20.82,2278,0.116
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.019710,0.021039,-0.063440,1.095625,0.010264,0.018092,-0.010210,1.114384,-1007.118286,-1110.731201,-55.410366
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,0,20220525111332.147425,06,6075,37,0114,0150,44,01,01,00,01,1,025,121,0,5,2,0,150,16.3,4.00,-100,-1.00,-01,0.06,45,10000,5000,0,5,00,00*48	_10V_AH	14.75,0.000
FREEZE	1.62,13.611,-1.430,0,1,0	FG_AHR_24Vo	206.225
FINISH	1.6,1.019527	FG_AHR_10Vo	159.254
SM_CCo	3826.78,134.24,1.102,0,541.9,607.6,476.2,590.70	MEM0	60132,1,0,0
SM_GC	1.39,134.24,14.06,0.44,1.102,0.074,0.084,541.9,607.6,476.2,216.6,2772.9,0,0,0,11.92,15.42,15.46	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	942900,24,103608,79
IRIDIUM_FIX	4738.90,-12358.25,250522,091718	DATA_FILE_SIZE	12958,537
TCM_TEMP	13.22	CAP_FILE_SIZE	372700,0
SC_FREEKB	3875808	SDSIZE	3918848,3880064
PM_FREEKB_00	61522688	SDFILEDIR	337,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-10	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,-0.031486,0.017271,-0.060330,1.101528,0.001196,0.016423,-0.012261,1.112747,-1002.8,-1105.4,-51.9,35,0.0246,1
HUMID	48.66	IMPLIED_C_PITCH	2016,16.06,274,2023.1,15.96
TEMP	10.26	IMPLIED_C_VBD	3127,23.745020,274,3038.4
INTERNAL_PRESSURE	7.91545	GPS	250522,113810,4736.650,-12256.488,1,1.0,2,15.5
_24V_AH	14.79,112.026

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1339	12784.78	nil	0	0	0.00
Pitch_motor	30	272	123.53	nil	0	0	0.00
Roll_motor	63	230	216.49	nil	0	0	0.00
Iridium	150	218	486.87	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	2334	5	176.30	SciCon	3669	6	349.17
Fast	0	0	0.00	PMAR	3675	17	960.48
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1569	0	7.41
Compass	1087	5	80.19
RAFOS	0	0	0.00
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
10.97	16386	-146.63	-1.26	0.00	537.4	597.6	477.1	215.3	2723.4	0.00	0.00	0	94.06	79.76	0.00	0.00	0.005	0.000	0.000	2443.31	2447.62	2439.00	215.44	2723.81	0	0	0	15.42	30.00	30.00
94.31	18727	-146.63	-1.26	80.00	2444.2	2449.2	2439.2	215.2	2724.0	3.08	-2.09	15	150.14	32.57	12.04	3.04	0.006	0.273	0.121	3546.25	3572.12	3520.38	1726.00	3911.50	0	0	0	15.78	15.62	15.70
378.51	1060	-146.63	-1.26	0.00	3547.1	3573.4	3520.9	1725.9	3911.6	25.20	-6.93	71	384.70	0.00	0.00	2.74	0.000	0.000	0.066	3546.75	3572.69	3520.81	1726.62	2724.06	0	0	0	30.00	30.00	15.83
566.71	548	-146.63	-1.26	-80.00	3549.0	3575.9	3522.0	1726.8	2724.4	36.49	-6.07	108	573.59	0.00	0.00	3.53	0.000	0.000	0.124	3548.59	3576.00	3521.19	1727.06	1281.88	0	0	0	30.00	30.00	15.83
767.04	1028	-146.63	-1.26	0.00	3548.9	3575.8	3522.1	1726.7	1281.6	52.79	-8.85	148	773.06	0.00	0.00	3.45	0.000	0.000	0.063	3550.19	3578.06	3522.31	1725.62	2773.12	0	0	0	30.00	30.00	15.91
957.11	292	-146.63	-1.26	80.00	3548.9	3576.2	3521.6	1726.0	2772.1	66.71	-7.57	168	962.77	0.00	0.00	2.83	0.000	0.000	0.122	3549.09	3577.31	3520.88	1726.88	3907.88	0	0	0	30.00	30.00	15.90
1077.11	1028	-146.63	-1.26	0.00	3548.1	3575.7	3520.4	1725.9	3908.2	76.96	-8.71	192	1082.76	0.00	0.00	2.73	0.000	0.000	0.066	3548.41	3575.81	3521.00	1727.19	2726.25	0	0	0	30.00	30.00	15.95
1267.15	260	-146.63	-1.26	80.00	3549.5	3576.7	3522.2	1725.6	2724.7	92.28	-7.91	212	1272.86	0.00	0.00	2.96	0.000	0.000	0.119	3522.19	3522.69	3521.69	1725.12	3910.88	0	0	0	30.00	30.00	15.93
1317.14	1028	-146.63	-1.26	0.00	3549.2	3576.4	3521.9	1726.5	3908.9	96.76	-9.15	222	1322.80	0.00	0.00	2.73	0.000	0.000	0.067	3549.19	3577.12	3521.25	1726.50	2725.88	0	0	0	30.00	30.00	15.97
1507.16	0	-146.63	-1.26	0.00	3549.8	3577.0	3522.7	1726.5	2726.0	112.41	-7.93	242	1508.72	0.00	0.00	0.00	0.000	0.000	0.000	3547.72	3575.00	3520.44	1726.81	2725.00	0	0	0	30.00	30.00	30.00
1695.19	260	-146.63	-1.26	80.00	3549.0	3577.4	3520.7	1726.2	2725.6	127.13	-7.70	261	1700.95	0.00	0.00	2.97	0.000	0.000	0.121	3549.06	3577.19	3520.94	1726.38	3910.88	0	0	0	30.00	30.00	15.96
1725.20	1028	-146.63	-1.26	0.00	3549.0	3576.9	3521.1	1725.9	3912.4	129.62	-8.00	267	1730.87	0.00	0.00	2.72	0.000	0.000	0.068	3548.34	3576.31	3520.38	1726.00	2726.88	0	0	0	30.00	30.00	16.00
1915.23	0	-146.63	-1.26	0.00	3549.9	3577.6	3522.2	1726.0	2727.1	144.92	-8.25	287	1916.79	0.00	0.00	0.00	0.000	0.000	0.000	3547.78	3575.19	3520.38	1726.38	2727.19	0	0	0	30.00	30.00	30.00
2095	end dive: TARGET_DEPTH_EXCEEDED
state	2095	begin apogee
2096.68	10243	0.00	-0.32	0.00	3548.9	3576.7	3521.1	1726.1	2575.1	160.40	-8.64	305	2211.41	105.95	1.53	0.08	1.339	0.141	0.230	2949.16	3015.12	2883.19	1956.50	2625.94	0	0	0	12.13	15.97	15.55
2214	end apogee: CONTROL_FINISHED_OK
state	2214	begin climb
2215.01	10759	146.63	1.26	-80.00	2947.2	3013.2	2881.1	1956.3	2625.8	162.48	0.00	316	2340.52	110.07	2.53	3.67	1.283	0.093	0.132	2346.84	2431.12	2262.56	2339.44	1189.94	0	0	0	12.07	15.56	15.31
2343.28	1028	146.63	1.26	0.00	2348.0	2429.3	2266.8	2340.7	1188.9	149.39	13.52	332	2350.65	0.00	0.00	3.42	0.000	0.000	0.059	2349.00	2430.12	2267.88	2339.75	2620.75	0	0	0	30.00	30.00	15.40
2538.94	16646	146.63	1.26	80.00	2343.0	2422.2	2263.8	2339.7	2620.8	118.64	16.23	352	2544.88	0.00	0.00	3.31	0.000	0.000	0.126	2341.59	2420.38	2262.81	2340.25	3910.19	0	0	0	30.00	30.00	15.62
2588.95	17414	146.63	1.26	0.00	2341.7	2420.1	2263.4	2339.2	3910.4	110.49	16.01	362	2594.81	0.00	0.00	3.13	0.000	0.000	0.069	2341.81	2421.31	2262.31	2340.56	2578.50	0	0	0	30.00	30.00	15.69
2784.98	16646	146.63	1.26	80.00	2341.1	2419.5	2262.7	2339.8	2579.5	82.22	14.20	383	2790.93	0.00	0.00	3.37	0.000	0.000	0.120	2339.47	2417.88	2261.06	2339.62	3910.75	0	0	0	30.00	30.00	15.75
2814.99	17414	146.63	1.26	0.00	2340.8	2418.3	2263.2	2339.6	3910.1	77.64	15.42	389	2820.84	0.00	0.00	3.11	0.000	0.000	0.068	2339.50	2417.62	2261.38	2339.75	2577.75	0	0	0	30.00	30.00	15.79
3005.03	16646	146.63	1.26	80.00	2340.5	2418.2	2262.9	2340.4	2576.6	50.69	13.97	409	3010.96	0.00	0.00	3.36	0.000	0.000	0.120	2340.28	2419.81	2260.75	2340.38	3908.06	0	0	0	30.00	30.00	15.81
3040.02	17414	146.63	1.26	0.00	2339.8	2417.2	2262.5	2339.8	3909.2	45.49	15.17	416	3046.55	0.00	0.00	3.09	0.000	0.000	0.068	2339.06	2416.38	2261.75	2339.50	2576.19	0	0	0	30.00	30.00	15.85
3230.07	16386	146.63	1.26	0.00	2340.0	2417.6	2262.4	2339.9	2576.3	20.19	12.78	454	3234.62	0.00	0.00	0.00	0.000	0.000	0.000	2338.41	2416.44	2260.38	2339.69	2577.00	0	0	0	30.00	30.00	30.00
3415.23	10535	251.57	1.39	80.00	2339.3	2416.8	2261.8	2339.4	2576.9	3.83	4.98	491	3504.97	77.29	0.16	3.42	1.134	0.099	0.118	1920.91	2010.44	1831.38	2377.50	3909.81	0	0	0	12.09	15.91	15.60
3538.46	11303	456.56	1.64	0.00	1918.4	2006.7	1830.1	2377.9	3909.1	3.71	0.49	515	3654.03	105.54	0.31	3.14	1.101	0.075	0.064	1329.16	1426.62	1231.69	2439.19	2573.75	0	0	0	11.99	15.66	15.68
3654	end climb: SURFACE_DEPTH_REACHED
state	3654	begin surface coast
3658	end surface coast: CONTROL_FINISHED_OK
state	3658	begin surface