Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 1 * 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 1 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 1 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 158.87584 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.839615 FG_AHR_24V 204.42603 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 158.87584 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 204.42603 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.839615 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 20 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 1 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 1 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 250522,002017,4736.792,-12256.025,2,0.9,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,002201,4736.809,-12256.001,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 204.3,1949,-17.1,-9.697,-20.82,2278,0.000

SPEED_LIMITS 0.168,0.255 D_GRID 169

TGT_NAME S IRON 1.000000,-0.043682,-0.148415,-0.052545,1.094805,-0.051589,0.056910,0.010294,1.120978,-845.170654,-1052.323486,-5.210256

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653442247,0.2,start INTERNAL_PRESSURE 7.96822

NET xm1t part outbox0000.n 167 6 _24V_AH 14.95,110.188

NET_PING 1653441191,28,1785.606079,15.600000,-1.373951 _10V_AH 14.92,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 204.615

MODEM_MSG CACST,8,1,20220525010002.190255,18,2972,28,0163,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-1.9,0.42,-100,2.58,-01,0.46,58,925,0025,0,-1,00,00*2C FG_AHR_10Vo 158.919

FREEZE 3.97,13.722,-1.441,0,1,0 MEM0 60132,1,0,0

SM_CCo 3969.22,231.57,1.088,0,501.0,575.6,426.4,600.74 MEM1 65508,1,0,0

SM_GC 1.28,0.00,13.88,0.30,0.000,0.053,0.100,497.1,568.9,425.3,212.9,2770.1,0,0,0,30.00,15.49,15.48 MEM2 942800,29,103608,79

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16149,578

IRIDIUM_FIX 4736.00,-12258.89,250522,001838 CAP_FILE_SIZE 410089,0

TCM_TEMP 13.93 SDSIZE 3918848,3882880

SC_FREEKB 3878368 SDFILEDIR 264,3

PM_FREEKB_00 62253120 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,-0.022518,-0.009009,-0.071033,1.048284,0.033164,0.084919,-0.059405,0.835928,-971.7,-1131.8,241.0,22,0.0482,1

MODEM 0,1653440402,47.61230,-122.96660,2.190,3208.7 IMPLIED_C_PITCH 2017,16.12,237,2023.4,15.98

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_VBD 3176,26.294449,237,3050.0

HUMID 48.79 GPS 250522,013136,4736.734,-12256.064,1,1.9,3,15.5

TEMP 11.52

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 658 1298 12779.02 nil 0 0 0.00

Pitch_motor 29 264 118.41 nil 0 0 0.00

Roll_motor 57 234 202.71 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 2249 5 171.86 SciCon 3725 8 491.02

Fast 0 0 0.00 PMAR 3732 17 986.06

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1637 0 7.82

Compass 1174 5 87.64

RAFOS 866 40 516.83

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

10.88 16386 -146.63 -1.26 0.00 541.7 597.2 486.1 215.1 2725.6 0.00 0.00 0 115.67 99.61 0.00 0.00 0.005 0.000 0.000 2922.28 2928.94 2915.62 215.25 2724.88 0 0 0 15.42 30.00 30.00

115.98 18467 -146.63 -1.26 0.00 2922.2 2928.4 2915.9 215.2 2723.7 3.10 -1.61 19 151.45 16.90 11.56 0.00 0.006 0.264 0.000 3546.34 3575.25 3517.44 1724.88 2724.75 0 0 0 16.04 15.90 30.00

334.78 548 -146.63 -1.26 -80.00 3547.8 3578.7 3517.0 1724.4 2724.7 11.76 -2.32 62 341.26 0.00 0.00 3.38 0.000 0.000 0.113 3548.09 3579.00 3517.19 1725.31 1279.94 0 0 0 30.00 30.00 15.98

567.79 1060 -146.63 -1.26 0.00 3548.7 3579.8 3517.6 1724.9 1280.6 18.27 -4.10 107 574.23 0.00 0.00 3.29 0.000 0.000 0.058 3549.44 3579.94 3518.94 1724.75 2773.00 0 0 0 30.00 30.00 16.00

756.31 548 -146.63 -1.26 -80.00 3548.9 3579.5 3518.2 1725.4 2772.8 26.84 -4.69 144 762.82 0.00 0.00 3.48 0.000 0.000 0.112 3547.59 3578.62 3516.56 1725.25 1276.81 0 0 0 30.00 30.00 15.97

991.33 1060 -146.63 -1.26 0.00 3549.0 3580.4 3517.6 1724.8 1276.8 41.47 -7.13 191 997.74 0.00 0.00 3.29 0.000 0.000 0.059 3550.03 3581.12 3518.94 1724.69 2773.12 0 0 0 30.00 30.00 16.02

1179.34 548 -146.63 -1.26 -80.00 3548.6 3579.4 3517.8 1725.2 2772.9 53.37 -6.50 224 1185.11 0.00 0.00 3.47 0.000 0.000 0.114 3548.19 3580.25 3516.12 1724.38 1281.12 0 0 0 30.00 30.00 16.00

1193.60 1060 -146.63 -1.26 0.00 3548.3 3579.8 3516.8 1724.0 1281.1 54.47 -6.68 227 1200.76 0.00 0.00 3.29 0.000 0.000 0.060 3548.28 3579.56 3517.00 1725.00 2774.69 0 0 0 30.00 30.00 16.03

1389.36 292 -146.63 -1.26 80.00 3548.2 3579.4 3517.1 1724.9 2775.4 67.87 -7.16 247 1394.78 0.00 0.00 2.68 0.000 0.000 0.122 3549.84 3580.19 3519.50 1724.50 3916.75 0 0 0 30.00 30.00 16.00

1453.61 1028 -146.63 -1.26 0.00 3547.6 3578.7 3516.4 1725.3 3914.9 73.20 -8.33 260 1460.53 0.00 0.00 2.64 0.000 0.000 0.063 3547.41 3578.88 3515.94 1724.75 2723.94 0 0 0 30.00 30.00 16.04

1648.34 0 -146.63 -1.26 0.00 3549.6 3580.5 3518.7 1725.2 2723.8 87.95 -7.77 280 1649.87 0.00 0.00 0.00 0.000 0.000 0.000 3547.91 3578.94 3516.88 1724.81 2723.38 0 0 0 30.00 30.00 30.00

1838.27 260 -146.63 -1.26 80.00 3548.1 3578.9 3517.4 1725.2 2722.5 102.56 -7.76 299 1843.92 0.00 0.00 2.82 0.000 0.000 0.118 3548.59 3579.81 3517.38 1724.75 3912.69 0 0 0 30.00 30.00 16.01

1872.63 1028 -146.63 -1.26 0.00 3547.9 3578.4 3517.4 1725.4 3912.8 105.68 -8.48 306 1879.55 0.00 0.00 2.64 0.000 0.000 0.065 3548.69 3579.50 3517.88 1725.00 2724.31 0 0 0 30.00 30.00 16.06

2068.36 0 -146.63 -1.26 0.00 3548.8 3581.2 3516.4 1725.2 2724.4 122.32 -8.50 326 2069.89 0.00 0.00 0.00 0.000 0.000 0.000 3546.28 3578.75 3513.81 1724.81 2723.62 0 0 0 30.00 30.00 30.00

2253 end dive: HALF_MISSION_TIME_EXCEEDED

state 2253 begin apogee

2254.15 10243 0.00 -0.32 0.00 3547.6 3580.1 3515.2 1724.9 2573.2 137.52 -8.23 344 2368.24 104.82 1.52 0.08 1.298 0.138 0.235 2948.75 3015.75 2881.75 1956.56 2625.88 0 0 0 12.13 16.02 15.59

2379 end apogee: CONTROL_FINISHED_OK

state 2379 begin climb

2379.57 10759 146.63 1.26 -80.00 2946.2 3012.7 2879.8 1955.5 2626.2 139.11 0.00 355 2503.92 109.82 2.52 3.56 1.244 0.092 0.130 2349.09 2431.62 2266.56 2340.06 1188.50 0 0 0 12.08 15.62 15.35

2512.23 1028 146.63 1.26 0.00 2347.3 2428.0 2266.6 2340.1 1189.2 124.72 15.66 379 2517.99 0.00 0.00 3.29 0.000 0.000 0.059 2349.06 2427.88 2270.25 2339.00 2623.56 0 0 0 30.00 30.00 15.44

2702.24 16646 146.63 1.26 80.00 2342.9 2421.1 2264.8 2339.9 2622.6 94.51 15.61 399 2707.92 0.00 0.00 3.16 0.000 0.000 0.126 2344.22 2422.19 2266.25 2340.81 3910.88 0 0 0 30.00 30.00 15.65

2766.51 17414 146.63 1.26 0.00 2341.4 2418.6 2264.2 2338.5 3909.6 83.64 16.62 412 2773.61 0.00 0.00 3.04 0.000 0.000 0.068 2338.78 2415.81 2261.75 2339.75 2576.19 0 0 0 30.00 30.00 15.74

2958.25 16386 146.63 1.26 0.00 2340.8 2417.8 2263.7 2339.6 2575.8 54.66 14.74 432 2959.77 0.00 0.00 0.00 0.000 0.000 0.000 2337.25 2414.44 2260.06 2340.00 2576.19 0 0 0 30.00 30.00 30.00

3142.27 16646 146.63 1.26 80.00 2340.1 2417.4 2262.8 2339.8 2575.9 28.81 14.30 464 3148.72 0.00 0.00 3.26 0.000 0.000 0.119 2342.75 2419.94 2265.56 2339.62 3910.44 0 0 0 30.00 30.00 15.84

3192.28 17414 146.63 1.26 0.00 2338.8 2414.6 2262.9 2339.6 3911.2 21.63 14.06 474 3198.65 0.00 0.00 3.02 0.000 0.000 0.068 2337.34 2412.31 2262.38 2340.12 2575.38 0 0 0 30.00 30.00 15.88

3382.47 10791 248.84 1.39 -80.00 2337.2 2413.4 2260.9 2339.6 2574.1 3.91 5.11 512 3467.94 74.67 0.15 3.39 1.123 0.101 0.133 1931.84 2022.56 1841.12 2376.44 1189.25 0 0 0 12.07 15.93 15.62

3695.53 11303 467.19 1.65 0.00 1926.1 2009.5 1842.8 2376.1 1189.0 4.21 -0.11 573 3723.50 21.00 0.34 3.26 1.056 0.081 0.056 1827.00 1911.88 1742.12 2440.88 2629.00 0 0 0 12.08 15.79 15.81

3724 end climb: NO_VERTICAL_VELOCITY

state 3724 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	1	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	1	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	158.87584	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.839615	FG_AHR_24V	204.42603	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	250522,002017,4736.792,-12256.025,2,0.9,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,002201,4736.809,-12256.001,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	204.3,1949,-17.1,-9.697,-20.82,2278,0.000
SPEED_LIMITS	0.168,0.255	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.043682,-0.148415,-0.052545,1.094805,-0.051589,0.056910,0.010294,1.120978,-845.170654,-1052.323486,-5.210256
TGT_LATLONG	4736.000,-12257.000

NAV	1653442247,0.2,start	INTERNAL_PRESSURE	7.96822
NET	xm1t part outbox0000.n 167 6	_24V_AH	14.95,110.188
NET_PING	1653441191,28,1785.606079,15.600000,-1.373951	_10V_AH	14.92,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	204.615
MODEM_MSG	CACST,8,1,20220525010002.190255,18,2972,28,0163,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-1.9,0.42,-100,2.58,-01,0.46,58,925,0025,0,-1,00,00*2C	FG_AHR_10Vo	158.919
FREEZE	3.97,13.722,-1.441,0,1,0	MEM0	60132,1,0,0
SM_CCo	3969.22,231.57,1.088,0,501.0,575.6,426.4,600.74	MEM1	65508,1,0,0
SM_GC	1.28,0.00,13.88,0.30,0.000,0.053,0.100,497.1,568.9,425.3,212.9,2770.1,0,0,0,30.00,15.49,15.48	MEM2	942800,29,103608,79
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16149,578
IRIDIUM_FIX	4736.00,-12258.89,250522,001838	CAP_FILE_SIZE	410089,0
TCM_TEMP	13.93	SDSIZE	3918848,3882880
SC_FREEKB	3878368	SDFILEDIR	264,3
PM_FREEKB_00	62253120	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,-0.022518,-0.009009,-0.071033,1.048284,0.033164,0.084919,-0.059405,0.835928,-971.7,-1131.8,241.0,22,0.0482,1
MODEM	0,1653440402,47.61230,-122.96660,2.190,3208.7	IMPLIED_C_PITCH	2017,16.12,237,2023.4,15.98
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_VBD	3176,26.294449,237,3050.0
HUMID	48.79	GPS	250522,013136,4736.734,-12256.064,1,1.9,3,15.5
TEMP	11.52

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	658	1298	12779.02	nil	0	0	0.00
Pitch_motor	29	264	118.41	nil	0	0	0.00
Roll_motor	57	234	202.71	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	2249	5	171.86	SciCon	3725	8	491.02
Fast	0	0	0.00	PMAR	3732	17	986.06
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1637	0	7.82
Compass	1174	5	87.64
RAFOS	866	40	516.83
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
10.88	16386	-146.63	-1.26	0.00	541.7	597.2	486.1	215.1	2725.6	0.00	0.00	0	115.67	99.61	0.00	0.00	0.005	0.000	0.000	2922.28	2928.94	2915.62	215.25	2724.88	0	0	0	15.42	30.00	30.00
115.98	18467	-146.63	-1.26	0.00	2922.2	2928.4	2915.9	215.2	2723.7	3.10	-1.61	19	151.45	16.90	11.56	0.00	0.006	0.264	0.000	3546.34	3575.25	3517.44	1724.88	2724.75	0	0	0	16.04	15.90	30.00
334.78	548	-146.63	-1.26	-80.00	3547.8	3578.7	3517.0	1724.4	2724.7	11.76	-2.32	62	341.26	0.00	0.00	3.38	0.000	0.000	0.113	3548.09	3579.00	3517.19	1725.31	1279.94	0	0	0	30.00	30.00	15.98
567.79	1060	-146.63	-1.26	0.00	3548.7	3579.8	3517.6	1724.9	1280.6	18.27	-4.10	107	574.23	0.00	0.00	3.29	0.000	0.000	0.058	3549.44	3579.94	3518.94	1724.75	2773.00	0	0	0	30.00	30.00	16.00
756.31	548	-146.63	-1.26	-80.00	3548.9	3579.5	3518.2	1725.4	2772.8	26.84	-4.69	144	762.82	0.00	0.00	3.48	0.000	0.000	0.112	3547.59	3578.62	3516.56	1725.25	1276.81	0	0	0	30.00	30.00	15.97
991.33	1060	-146.63	-1.26	0.00	3549.0	3580.4	3517.6	1724.8	1276.8	41.47	-7.13	191	997.74	0.00	0.00	3.29	0.000	0.000	0.059	3550.03	3581.12	3518.94	1724.69	2773.12	0	0	0	30.00	30.00	16.02
1179.34	548	-146.63	-1.26	-80.00	3548.6	3579.4	3517.8	1725.2	2772.9	53.37	-6.50	224	1185.11	0.00	0.00	3.47	0.000	0.000	0.114	3548.19	3580.25	3516.12	1724.38	1281.12	0	0	0	30.00	30.00	16.00
1193.60	1060	-146.63	-1.26	0.00	3548.3	3579.8	3516.8	1724.0	1281.1	54.47	-6.68	227	1200.76	0.00	0.00	3.29	0.000	0.000	0.060	3548.28	3579.56	3517.00	1725.00	2774.69	0	0	0	30.00	30.00	16.03
1389.36	292	-146.63	-1.26	80.00	3548.2	3579.4	3517.1	1724.9	2775.4	67.87	-7.16	247	1394.78	0.00	0.00	2.68	0.000	0.000	0.122	3549.84	3580.19	3519.50	1724.50	3916.75	0	0	0	30.00	30.00	16.00
1453.61	1028	-146.63	-1.26	0.00	3547.6	3578.7	3516.4	1725.3	3914.9	73.20	-8.33	260	1460.53	0.00	0.00	2.64	0.000	0.000	0.063	3547.41	3578.88	3515.94	1724.75	2723.94	0	0	0	30.00	30.00	16.04
1648.34	0	-146.63	-1.26	0.00	3549.6	3580.5	3518.7	1725.2	2723.8	87.95	-7.77	280	1649.87	0.00	0.00	0.00	0.000	0.000	0.000	3547.91	3578.94	3516.88	1724.81	2723.38	0	0	0	30.00	30.00	30.00
1838.27	260	-146.63	-1.26	80.00	3548.1	3578.9	3517.4	1725.2	2722.5	102.56	-7.76	299	1843.92	0.00	0.00	2.82	0.000	0.000	0.118	3548.59	3579.81	3517.38	1724.75	3912.69	0	0	0	30.00	30.00	16.01
1872.63	1028	-146.63	-1.26	0.00	3547.9	3578.4	3517.4	1725.4	3912.8	105.68	-8.48	306	1879.55	0.00	0.00	2.64	0.000	0.000	0.065	3548.69	3579.50	3517.88	1725.00	2724.31	0	0	0	30.00	30.00	16.06
2068.36	0	-146.63	-1.26	0.00	3548.8	3581.2	3516.4	1725.2	2724.4	122.32	-8.50	326	2069.89	0.00	0.00	0.00	0.000	0.000	0.000	3546.28	3578.75	3513.81	1724.81	2723.62	0	0	0	30.00	30.00	30.00
2253	end dive: HALF_MISSION_TIME_EXCEEDED
state	2253	begin apogee
2254.15	10243	0.00	-0.32	0.00	3547.6	3580.1	3515.2	1724.9	2573.2	137.52	-8.23	344	2368.24	104.82	1.52	0.08	1.298	0.138	0.235	2948.75	3015.75	2881.75	1956.56	2625.88	0	0	0	12.13	16.02	15.59
2379	end apogee: CONTROL_FINISHED_OK
state	2379	begin climb
2379.57	10759	146.63	1.26	-80.00	2946.2	3012.7	2879.8	1955.5	2626.2	139.11	0.00	355	2503.92	109.82	2.52	3.56	1.244	0.092	0.130	2349.09	2431.62	2266.56	2340.06	1188.50	0	0	0	12.08	15.62	15.35
2512.23	1028	146.63	1.26	0.00	2347.3	2428.0	2266.6	2340.1	1189.2	124.72	15.66	379	2517.99	0.00	0.00	3.29	0.000	0.000	0.059	2349.06	2427.88	2270.25	2339.00	2623.56	0	0	0	30.00	30.00	15.44
2702.24	16646	146.63	1.26	80.00	2342.9	2421.1	2264.8	2339.9	2622.6	94.51	15.61	399	2707.92	0.00	0.00	3.16	0.000	0.000	0.126	2344.22	2422.19	2266.25	2340.81	3910.88	0	0	0	30.00	30.00	15.65
2766.51	17414	146.63	1.26	0.00	2341.4	2418.6	2264.2	2338.5	3909.6	83.64	16.62	412	2773.61	0.00	0.00	3.04	0.000	0.000	0.068	2338.78	2415.81	2261.75	2339.75	2576.19	0	0	0	30.00	30.00	15.74
2958.25	16386	146.63	1.26	0.00	2340.8	2417.8	2263.7	2339.6	2575.8	54.66	14.74	432	2959.77	0.00	0.00	0.00	0.000	0.000	0.000	2337.25	2414.44	2260.06	2340.00	2576.19	0	0	0	30.00	30.00	30.00
3142.27	16646	146.63	1.26	80.00	2340.1	2417.4	2262.8	2339.8	2575.9	28.81	14.30	464	3148.72	0.00	0.00	3.26	0.000	0.000	0.119	2342.75	2419.94	2265.56	2339.62	3910.44	0	0	0	30.00	30.00	15.84
3192.28	17414	146.63	1.26	0.00	2338.8	2414.6	2262.9	2339.6	3911.2	21.63	14.06	474	3198.65	0.00	0.00	3.02	0.000	0.000	0.068	2337.34	2412.31	2262.38	2340.12	2575.38	0	0	0	30.00	30.00	15.88
3382.47	10791	248.84	1.39	-80.00	2337.2	2413.4	2260.9	2339.6	2574.1	3.91	5.11	512	3467.94	74.67	0.15	3.39	1.123	0.101	0.133	1931.84	2022.56	1841.12	2376.44	1189.25	0	0	0	12.07	15.93	15.62
3695.53	11303	467.19	1.65	0.00	1926.1	2009.5	1842.8	2376.1	1189.0	4.21	-0.11	573	3723.50	21.00	0.34	3.26	1.056	0.081	0.056	1827.00	1911.88	1742.12	2440.88	2629.00	0	0	0	12.08	15.79	15.81
3724	end climb: NO_VERTICAL_VELOCITY
state	3724	begin surface