Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 12 * 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 12 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 159.33533 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.840912 FG_AHR_24V 206.63385 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 159.33533 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 206.63385 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.840912 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 12 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 250522,135910,4736.483,-12256.543,22,0.9,23,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,140349,4736.542,-12256.470,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 197.9,1203,-17.1,-9.697,-20.82,2278,0.130

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653491254,1.9,1,stop INTERNAL_PRESSURE 7.90847

NET CACST,8,0,20220525144331.188571,06,4003,36,0198,0150,74,01,01,00,01,1,025,121,0,5,2,0,150,10.9,5.50,-100,-2.50,-01,0.01,49,10000,5000,0,5,00,00*48 _24V_AH 14.77,112.709

FREEZE 1.83,12.963,-1.462,0,1,0 _10V_AH 14.75,0.000

FINISH 1.8,1.020088 FG_AHR_24Vo 206.825

SM_CCo 3787.53,246.17,1.125,0,541.1,608.3,473.8,590.91 FG_AHR_10Vo 159.377

SM_GC 1.46,246.17,13.24,2.76,1.125,0.070,0.062,541.1,608.3,473.8,216.7,2721.9,0,0,0,11.98,15.65,15.69 MEM0 60132,1,0,0

MODEM_MSG CACST,8,1,20220525150002.330634,18,3475,29,0187,0000,246,02,02,01,03,-1,-01,-01,2,3,1,0,150,5.5,1.18,-100,1.82,-01,0.15,63,925,0025,0,-1,00,00*07 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 942812,28,103616,79

IRIDIUM_FIX 4735.53,-12254.47,250522,124950 DATA_FILE_SIZE 12945,500

TCM_TEMP 12.97 CAP_FILE_SIZE 364615,0

SC_FREEKB 3874848 SDSIZE 3918848,3879008

PM_FREEKB_00 61269952 SDFILEDIR 364,3

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

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1653490802,47.61230,-122.96660,2.331,3414.4 IMPLIED_C_PITCH 2013,15.75,273,2021.5,15.80

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_VBD 3115,21.379559,273,3032.5

HUMID 48.46 GPS 250522,150814,4736.364,-12256.604,1,1.3,3,15.5

TEMP 10.17

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1345 12849.06 nil 0 0 0.00

Pitch_motor 29 264 114.68 nil 0 0 0.00

Roll_motor 62 241 224.08 nil 0 0 0.00

Iridium 186 218 602.62 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 2251 5 170.06 SciCon 3510 6 327.77

Fast 0 0 0.00 PMAR 3515 17 920.84

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1533 0 7.24

Compass 1014 5 74.82

RAFOS 1041 40 614.30

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

11.05 16386 -146.63 -1.26 0.00 537.7 598.9 476.5 216.6 2770.8 0.00 0.00 0 115.75 100.65 0.00 0.00 0.005 0.000 0.000 2879.81 2882.75 2876.88 216.38 2770.12 0 0 0 15.43 30.00 30.00

116.01 18467 -146.63 -1.26 0.00 2880.2 2883.7 2876.8 216.6 2770.9 3.54 -1.63 17 155.34 17.54 11.98 0.00 0.006 0.264 0.000 3546.31 3570.19 3522.44 1723.56 2770.19 0 0 0 15.77 15.62 30.00

336.66 292 -146.63 -1.26 80.00 3548.6 3574.2 3522.9 1723.7 2771.0 22.95 -7.23 61 342.92 0.00 0.00 2.88 0.000 0.000 0.121 3550.94 3577.00 3524.88 1725.31 3910.69 0 0 0 30.00 30.00 15.75

401.67 1060 -146.63 -1.26 0.00 3548.0 3573.9 3522.1 1723.6 3910.8 27.87 -7.59 74 408.04 0.00 0.00 2.71 0.000 0.000 0.065 3549.56 3575.75 3523.38 1724.31 2723.56 0 0 0 30.00 30.00 15.83

590.72 32 -146.63 -1.26 0.00 3548.7 3574.9 3522.4 1724.1 2724.7 41.67 -7.00 111 595.26 0.00 0.00 0.00 0.000 0.000 0.000 3548.38 3574.69 3522.06 1724.06 2723.94 0 0 0 30.00 30.00 30.00

780.77 548 -146.63 -1.26 -80.00 3548.5 3575.2 3521.7 1724.7 2723.8 54.80 -6.82 142 786.76 0.00 0.00 3.45 0.000 0.000 0.123 3548.00 3575.94 3520.06 1724.62 1281.12 0 0 0 30.00 30.00 15.87

820.75 1028 -146.63 -1.26 0.00 3550.1 3576.3 3523.9 1724.4 1280.6 58.14 -7.84 150 826.84 0.00 0.00 3.53 0.000 0.000 0.062 3548.75 3574.62 3522.88 1724.88 2767.50 0 0 0 30.00 30.00 15.91

1015.81 292 -146.63 -1.26 80.00 3549.5 3576.0 3522.9 1724.5 2766.3 72.65 -7.67 171 1021.54 0.00 0.00 2.91 0.000 0.000 0.121 3549.38 3575.75 3523.00 1723.56 3911.06 0 0 0 30.00 30.00 15.91

1075.79 1028 -146.63 -1.26 0.00 3548.4 3575.6 3521.3 1724.6 3911.9 77.59 -8.31 183 1081.50 0.00 0.00 2.73 0.000 0.000 0.066 3550.88 3577.25 3524.50 1724.38 2724.50 0 0 0 30.00 30.00 15.95

1265.80 0 -146.63 -1.26 0.00 3549.5 3576.6 3522.3 1723.9 2725.1 92.66 -8.05 203 1267.36 0.00 0.00 0.00 0.000 0.000 0.000 3548.31 3575.12 3521.50 1724.62 2724.81 0 0 0 30.00 30.00 30.00

1455.92 260 -146.63 -1.26 80.00 3547.2 3573.9 3520.6 1724.0 2725.9 108.44 -8.35 222 1461.64 0.00 0.00 3.01 0.000 0.000 0.119 3549.16 3577.44 3520.88 1724.81 3909.62 0 0 0 30.00 30.00 15.95

1519.45 1028 -146.63 -1.26 0.00 3549.3 3576.5 3522.2 1724.4 3908.9 114.35 -9.29 233 1526.57 0.00 0.00 2.73 0.000 0.000 0.068 3550.16 3576.56 3523.75 1723.81 2725.94 0 0 0 30.00 30.00 15.96

1721.65 0 -146.63 -1.26 0.00 3549.0 3576.1 3522.0 1723.9 2726.3 130.59 -8.55 253 1725.21 0.00 0.00 0.00 0.000 0.000 0.000 3548.94 3576.00 3521.88 1724.75 2726.56 0 0 0 30.00 30.00 30.00

1915.34 260 -146.63 -1.26 80.00 3549.6 3576.4 3522.7 1724.0 2725.8 147.73 -8.63 273 1921.15 0.00 0.00 3.03 0.000 0.000 0.122 3549.19 3575.06 3523.31 1724.50 3911.00 0 0 0 30.00 30.00 15.93

1955.36 1028 -146.63 -1.26 0.00 3549.1 3575.4 3522.8 1724.1 3909.2 151.59 -9.65 281 1961.07 0.00 0.00 2.73 0.000 0.000 0.069 3549.91 3575.88 3523.94 1724.19 2727.50 0 0 0 30.00 30.00 15.97

2045 end dive: TARGET_DEPTH_EXCEEDED

state 2045 begin apogee

2046.82 10243 0.00 -0.32 0.00 3549.0 3576.0 3521.9 1724.1 2575.5 160.01 -9.27 291 2161.59 105.59 1.57 0.08 1.346 0.140 0.241 2951.91 3018.62 2885.19 1955.38 2622.19 0 0 0 12.07 15.93 15.51

2165 end apogee: CONTROL_FINISHED_OK

state 2165 begin climb

2165.52 10759 146.63 1.26 -80.00 2947.0 3013.2 2880.9 1955.3 2622.6 162.55 0.00 302 2291.42 110.22 2.58 3.66 1.288 0.094 0.133 2347.88 2430.56 2265.19 2338.81 1189.12 0 0 0 11.89 15.54 15.30

2294.22 1028 146.63 1.26 0.00 2348.6 2430.1 2267.1 2339.8 1188.6 149.76 13.27 318 2301.56 0.00 0.00 3.46 0.000 0.000 0.059 2345.81 2427.12 2264.50 2339.38 2620.69 0 0 0 30.00 30.00 15.38

2489.84 16646 146.63 1.26 80.00 2343.2 2422.2 2264.3 2339.2 2621.6 120.12 15.20 338 2495.79 0.00 0.00 3.35 0.000 0.000 0.125 2343.56 2423.12 2264.00 2340.19 3906.25 0 0 0 30.00 30.00 15.62

2554.12 17414 146.63 1.26 0.00 2341.8 2420.1 2263.4 2338.5 3908.4 109.66 16.11 351 2561.46 0.00 0.00 3.12 0.000 0.000 0.070 2341.50 2418.50 2264.50 2339.81 2578.31 0 0 0 30.00 30.00 15.69

2744.88 16646 146.63 1.26 80.00 2341.4 2419.8 2263.1 2339.4 2578.6 81.85 14.27 371 2750.90 0.00 0.00 3.40 0.000 0.000 0.119 2343.16 2420.00 2266.31 2338.38 3909.81 0 0 0 30.00 30.00 15.75

2779.20 17414 146.63 1.26 0.00 2341.1 2418.3 2263.9 2340.4 3909.9 76.60 15.21 378 2786.48 0.00 0.00 3.11 0.000 0.000 0.068 2339.03 2416.38 2261.69 2339.62 2579.31 0 0 0 30.00 30.00 15.79

2974.91 16386 146.63 1.26 0.00 2340.8 2418.1 2263.6 2339.4 2578.1 49.51 13.65 398 2975.53 0.00 0.00 0.00 0.000 0.000 0.000 2337.56 2414.69 2260.44 2339.50 2578.19 0 0 0 30.00 30.00 30.00

3159.97 16646 146.63 1.26 80.00 2341.0 2418.8 2263.1 2339.8 2578.5 24.96 12.80 435 3166.66 0.00 0.00 3.36 0.000 0.000 0.119 2339.06 2417.44 2260.69 2339.81 3908.19 0 0 0 30.00 30.00 15.85

3190.06 17414 146.63 1.26 0.00 2339.2 2416.1 2262.3 2338.9 3908.6 21.17 12.59 441 3196.59 0.00 0.00 3.08 0.000 0.000 0.068 2341.44 2417.44 2265.44 2338.88 2576.06 0 0 0 30.00 30.00 15.88

3378.32 8486 236.01 1.37 80.00 2339.6 2416.4 2262.9 2340.5 2574.6 4.21 5.68 477 3453.34 66.36 0.00 3.43 1.139 0.000 0.117 1986.75 2075.88 1897.62 2340.25 3909.44 0 0 0 12.13 30.00 15.60

3472 end climb: SURFACE_DEPTH_REACHED

state 3472 begin surface coast

3497 end surface coast: CONTROL_FINISHED_OK

state 3497 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	12	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	159.33533	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.840912	FG_AHR_24V	206.63385	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	250522,135910,4736.483,-12256.543,22,0.9,23,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,140349,4736.542,-12256.470,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	197.9,1203,-17.1,-9.697,-20.82,2278,0.130
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819
TGT_LATLONG	4736.000,-12257.000

NAV	1653491254,1.9,1,stop	INTERNAL_PRESSURE	7.90847
NET	CACST,8,0,20220525144331.188571,06,4003,36,0198,0150,74,01,01,00,01,1,025,121,0,5,2,0,150,10.9,5.50,-100,-2.50,-01,0.01,49,10000,5000,0,5,00,00*48	_24V_AH	14.77,112.709
FREEZE	1.83,12.963,-1.462,0,1,0	_10V_AH	14.75,0.000
FINISH	1.8,1.020088	FG_AHR_24Vo	206.825
SM_CCo	3787.53,246.17,1.125,0,541.1,608.3,473.8,590.91	FG_AHR_10Vo	159.377
SM_GC	1.46,246.17,13.24,2.76,1.125,0.070,0.062,541.1,608.3,473.8,216.7,2721.9,0,0,0,11.98,15.65,15.69	MEM0	60132,1,0,0
MODEM_MSG	CACST,8,1,20220525150002.330634,18,3475,29,0187,0000,246,02,02,01,03,-1,-01,-01,2,3,1,0,150,5.5,1.18,-100,1.82,-01,0.15,63,925,0025,0,-1,00,00*07	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	942812,28,103616,79
IRIDIUM_FIX	4735.53,-12254.47,250522,124950	DATA_FILE_SIZE	12945,500
TCM_TEMP	12.97	CAP_FILE_SIZE	364615,0
SC_FREEKB	3874848	SDSIZE	3918848,3879008
PM_FREEKB_00	61269952	SDFILEDIR	364,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1653490802,47.61230,-122.96660,2.331,3414.4	IMPLIED_C_PITCH	2013,15.75,273,2021.5,15.80
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_VBD	3115,21.379559,273,3032.5
HUMID	48.46	GPS	250522,150814,4736.364,-12256.604,1,1.3,3,15.5
TEMP	10.17

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1345	12849.06	nil	0	0	0.00
Pitch_motor	29	264	114.68	nil	0	0	0.00
Roll_motor	62	241	224.08	nil	0	0	0.00
Iridium	186	218	602.62	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	2251	5	170.06	SciCon	3510	6	327.77
Fast	0	0	0.00	PMAR	3515	17	920.84
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1533	0	7.24
Compass	1014	5	74.82
RAFOS	1041	40	614.30
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
11.05	16386	-146.63	-1.26	0.00	537.7	598.9	476.5	216.6	2770.8	0.00	0.00	0	115.75	100.65	0.00	0.00	0.005	0.000	0.000	2879.81	2882.75	2876.88	216.38	2770.12	0	0	0	15.43	30.00	30.00
116.01	18467	-146.63	-1.26	0.00	2880.2	2883.7	2876.8	216.6	2770.9	3.54	-1.63	17	155.34	17.54	11.98	0.00	0.006	0.264	0.000	3546.31	3570.19	3522.44	1723.56	2770.19	0	0	0	15.77	15.62	30.00
336.66	292	-146.63	-1.26	80.00	3548.6	3574.2	3522.9	1723.7	2771.0	22.95	-7.23	61	342.92	0.00	0.00	2.88	0.000	0.000	0.121	3550.94	3577.00	3524.88	1725.31	3910.69	0	0	0	30.00	30.00	15.75
401.67	1060	-146.63	-1.26	0.00	3548.0	3573.9	3522.1	1723.6	3910.8	27.87	-7.59	74	408.04	0.00	0.00	2.71	0.000	0.000	0.065	3549.56	3575.75	3523.38	1724.31	2723.56	0	0	0	30.00	30.00	15.83
590.72	32	-146.63	-1.26	0.00	3548.7	3574.9	3522.4	1724.1	2724.7	41.67	-7.00	111	595.26	0.00	0.00	0.00	0.000	0.000	0.000	3548.38	3574.69	3522.06	1724.06	2723.94	0	0	0	30.00	30.00	30.00
780.77	548	-146.63	-1.26	-80.00	3548.5	3575.2	3521.7	1724.7	2723.8	54.80	-6.82	142	786.76	0.00	0.00	3.45	0.000	0.000	0.123	3548.00	3575.94	3520.06	1724.62	1281.12	0	0	0	30.00	30.00	15.87
820.75	1028	-146.63	-1.26	0.00	3550.1	3576.3	3523.9	1724.4	1280.6	58.14	-7.84	150	826.84	0.00	0.00	3.53	0.000	0.000	0.062	3548.75	3574.62	3522.88	1724.88	2767.50	0	0	0	30.00	30.00	15.91
1015.81	292	-146.63	-1.26	80.00	3549.5	3576.0	3522.9	1724.5	2766.3	72.65	-7.67	171	1021.54	0.00	0.00	2.91	0.000	0.000	0.121	3549.38	3575.75	3523.00	1723.56	3911.06	0	0	0	30.00	30.00	15.91
1075.79	1028	-146.63	-1.26	0.00	3548.4	3575.6	3521.3	1724.6	3911.9	77.59	-8.31	183	1081.50	0.00	0.00	2.73	0.000	0.000	0.066	3550.88	3577.25	3524.50	1724.38	2724.50	0	0	0	30.00	30.00	15.95
1265.80	0	-146.63	-1.26	0.00	3549.5	3576.6	3522.3	1723.9	2725.1	92.66	-8.05	203	1267.36	0.00	0.00	0.00	0.000	0.000	0.000	3548.31	3575.12	3521.50	1724.62	2724.81	0	0	0	30.00	30.00	30.00
1455.92	260	-146.63	-1.26	80.00	3547.2	3573.9	3520.6	1724.0	2725.9	108.44	-8.35	222	1461.64	0.00	0.00	3.01	0.000	0.000	0.119	3549.16	3577.44	3520.88	1724.81	3909.62	0	0	0	30.00	30.00	15.95
1519.45	1028	-146.63	-1.26	0.00	3549.3	3576.5	3522.2	1724.4	3908.9	114.35	-9.29	233	1526.57	0.00	0.00	2.73	0.000	0.000	0.068	3550.16	3576.56	3523.75	1723.81	2725.94	0	0	0	30.00	30.00	15.96
1721.65	0	-146.63	-1.26	0.00	3549.0	3576.1	3522.0	1723.9	2726.3	130.59	-8.55	253	1725.21	0.00	0.00	0.00	0.000	0.000	0.000	3548.94	3576.00	3521.88	1724.75	2726.56	0	0	0	30.00	30.00	30.00
1915.34	260	-146.63	-1.26	80.00	3549.6	3576.4	3522.7	1724.0	2725.8	147.73	-8.63	273	1921.15	0.00	0.00	3.03	0.000	0.000	0.122	3549.19	3575.06	3523.31	1724.50	3911.00	0	0	0	30.00	30.00	15.93
1955.36	1028	-146.63	-1.26	0.00	3549.1	3575.4	3522.8	1724.1	3909.2	151.59	-9.65	281	1961.07	0.00	0.00	2.73	0.000	0.000	0.069	3549.91	3575.88	3523.94	1724.19	2727.50	0	0	0	30.00	30.00	15.97
2045	end dive: TARGET_DEPTH_EXCEEDED
state	2045	begin apogee
2046.82	10243	0.00	-0.32	0.00	3549.0	3576.0	3521.9	1724.1	2575.5	160.01	-9.27	291	2161.59	105.59	1.57	0.08	1.346	0.140	0.241	2951.91	3018.62	2885.19	1955.38	2622.19	0	0	0	12.07	15.93	15.51
2165	end apogee: CONTROL_FINISHED_OK
state	2165	begin climb
2165.52	10759	146.63	1.26	-80.00	2947.0	3013.2	2880.9	1955.3	2622.6	162.55	0.00	302	2291.42	110.22	2.58	3.66	1.288	0.094	0.133	2347.88	2430.56	2265.19	2338.81	1189.12	0	0	0	11.89	15.54	15.30
2294.22	1028	146.63	1.26	0.00	2348.6	2430.1	2267.1	2339.8	1188.6	149.76	13.27	318	2301.56	0.00	0.00	3.46	0.000	0.000	0.059	2345.81	2427.12	2264.50	2339.38	2620.69	0	0	0	30.00	30.00	15.38
2489.84	16646	146.63	1.26	80.00	2343.2	2422.2	2264.3	2339.2	2621.6	120.12	15.20	338	2495.79	0.00	0.00	3.35	0.000	0.000	0.125	2343.56	2423.12	2264.00	2340.19	3906.25	0	0	0	30.00	30.00	15.62
2554.12	17414	146.63	1.26	0.00	2341.8	2420.1	2263.4	2338.5	3908.4	109.66	16.11	351	2561.46	0.00	0.00	3.12	0.000	0.000	0.070	2341.50	2418.50	2264.50	2339.81	2578.31	0	0	0	30.00	30.00	15.69
2744.88	16646	146.63	1.26	80.00	2341.4	2419.8	2263.1	2339.4	2578.6	81.85	14.27	371	2750.90	0.00	0.00	3.40	0.000	0.000	0.119	2343.16	2420.00	2266.31	2338.38	3909.81	0	0	0	30.00	30.00	15.75
2779.20	17414	146.63	1.26	0.00	2341.1	2418.3	2263.9	2340.4	3909.9	76.60	15.21	378	2786.48	0.00	0.00	3.11	0.000	0.000	0.068	2339.03	2416.38	2261.69	2339.62	2579.31	0	0	0	30.00	30.00	15.79
2974.91	16386	146.63	1.26	0.00	2340.8	2418.1	2263.6	2339.4	2578.1	49.51	13.65	398	2975.53	0.00	0.00	0.00	0.000	0.000	0.000	2337.56	2414.69	2260.44	2339.50	2578.19	0	0	0	30.00	30.00	30.00
3159.97	16646	146.63	1.26	80.00	2341.0	2418.8	2263.1	2339.8	2578.5	24.96	12.80	435	3166.66	0.00	0.00	3.36	0.000	0.000	0.119	2339.06	2417.44	2260.69	2339.81	3908.19	0	0	0	30.00	30.00	15.85
3190.06	17414	146.63	1.26	0.00	2339.2	2416.1	2262.3	2338.9	3908.6	21.17	12.59	441	3196.59	0.00	0.00	3.08	0.000	0.000	0.068	2341.44	2417.44	2265.44	2338.88	2576.06	0	0	0	30.00	30.00	15.88
3378.32	8486	236.01	1.37	80.00	2339.6	2416.4	2262.9	2340.5	2574.6	4.21	5.68	477	3453.34	66.36	0.00	3.43	1.139	0.000	0.117	1986.75	2075.88	1897.62	2340.25	3909.44	0	0	0	12.13	30.00	15.60
3472	end climb: SURFACE_DEPTH_REACHED
state	3472	begin surface coast
3497	end surface coast: CONTROL_FINISHED_OK
state	3497	begin surface