Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 13 * 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 13 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 159.37779 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.797497 FG_AHR_24V 206.83354 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 159.37779 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 206.83354 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.797497 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 13 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 250522,150814,4736.364,-12256.604,1,1.3,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,151205,4736.398,-12256.563,2,1.3,4,15.5 MHEAD_RNG_PITCHd_Wd 200.9,917,-17.1,-9.697,-20.82,2278,0.125

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 1653494834,8.7,1,stop TEMP 10.26

NET xm1t part outbox0003.n 797 9 INTERNAL_PRESSURE 7.91481

NET_PING 1653494596,25,1833.290894,8.800000,-1.438722 _24V_AH 14.77,112.938

WARN HSCICON missed fuel gauge read _10V_AH 14.75,0.000

FREEZE 1.89,13.038,-1.458,0,1,0 FG_AHR_24Vo 207.022

MODEM_MSG CACST,8,1,20220525160002.227924,18,4388,36,0251,0000,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,4.4,3.33,-100,-0.33,-01,0.06,69,925,0025,0,-1,00,00*28 FG_AHR_10Vo 159.419

FINISH 1.9,1.020011 MEM0 60132,1,0,0

SM_CCo 3807.34,216.96,1.115,0,541.6,606.9,476.2,590.79 MEM1 65508,1,0,0

SM_GC 1.42,216.96,14.01,0.44,1.115,0.081,0.084,541.6,606.9,476.2,217.9,2774.8,0,0,0,11.96,15.58,15.62 MEM2 942820,28,103608,79

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12932,521

IRIDIUM_FIX 4736.87,-12256.21,250522,140042 CAP_FILE_SIZE 372786,0

TCM_TEMP 13.09 SDSIZE 3918848,3878656

SC_FREEKB 3874528 SDFILEDIR 373,3

PM_FREEKB_00 61186432 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 0 MAGCAL 1.000000,-0.060085,-0.109269,-0.067522,1.132982,0.021145,0.064062,-0.036047,1.116983,-881.6,-1101.4,-15.5,24,0.0263,0

MODEM 0,1653494402,47.61230,-122.96660,2.228,3263.9 IMPLIED_C_PITCH 2014,15.92,265,2022.1,15.86

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_VBD 3116,21.428425,265,3032.9

HUMID 48.56 GPS 250522,161720,4736.225,-12256.778,22,0.6,34,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1339 12835.51 nil 0 0 0.00

Pitch_motor 30 269 121.76 nil 0 0 0.00

Roll_motor 58 233 202.11 nil 0 0 0.00

Iridium 138 220 453.23 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.86 nil 0 0 0.00

Core 2281 5 172.30 SciCon 3564 8 451.88

Fast 0 0 0.00 PMAR 3568 17 934.99

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1510 0 7.13

Compass 1052 5 77.65

RAFOS 860 40 507.88

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

11.02 16386 -146.63 -1.26 0.00 537.2 597.6 476.7 216.4 2771.2 0.00 0.00 0 109.54 94.68 0.00 0.00 0.005 0.000 0.000 2783.47 2788.25 2778.69 216.75 2770.25 0 0 0 15.33 30.00 30.00

109.80 18983 -146.63 -1.26 -80.00 2782.3 2786.9 2777.7 216.5 2769.4 3.41 -2.14 18 156.87 22.64 11.95 3.64 0.006 0.269 0.123 3546.69 3570.19 3523.19 1723.62 1279.06 0 0 0 15.77 15.62 15.70

165.18 1028 -146.63 -1.26 0.00 3548.0 3572.5 3523.6 1724.0 1279.6 8.53 -9.46 28 171.78 0.00 0.00 3.52 0.000 0.000 0.063 3547.56 3571.62 3523.50 1723.88 2768.75 0 0 0 30.00 30.00 15.74

355.24 292 -146.63 -1.26 80.00 3549.0 3574.3 3523.7 1723.2 2766.9 22.89 -7.05 66 361.54 0.00 0.00 2.92 0.000 0.000 0.118 3518.97 3513.56 3524.38 1722.88 3913.06 0 0 0 30.00 30.00 15.79

555.32 1028 -146.63 -1.26 0.00 3548.7 3574.6 3522.8 1723.4 3911.0 38.71 -8.11 106 561.88 0.00 0.00 2.76 0.000 0.000 0.065 3549.19 3575.44 3522.94 1723.69 2723.81 0 0 0 30.00 30.00 15.87

748.79 548 -146.63 -1.26 -80.00 3550.2 3576.8 3523.7 1723.9 2722.4 51.83 -7.36 142 754.83 0.00 0.00 3.51 0.000 0.000 0.123 3550.78 3576.00 3525.56 1723.81 1281.19 0 0 0 30.00 30.00 15.86

838.81 1028 -146.63 -1.26 0.00 3548.6 3575.6 3521.7 1724.1 1280.8 59.74 -9.06 160 844.79 0.00 0.00 3.46 0.000 0.000 0.064 3550.53 3576.56 3524.50 1724.25 2768.75 0 0 0 30.00 30.00 15.92

1032.20 292 -146.63 -1.26 80.00 3550.3 3577.1 3523.5 1724.1 2769.3 74.54 -7.39 180 1037.87 0.00 0.00 2.88 0.000 0.000 0.120 3551.69 3577.88 3525.50 1723.75 3910.31 0 0 0 30.00 30.00 15.89

1056.48 1060 -146.63 -1.26 0.00 3549.5 3576.4 3522.6 1724.1 3910.4 76.54 -7.48 185 1063.59 0.00 0.00 2.72 0.000 0.000 0.065 3549.25 3576.19 3522.31 1724.31 2726.00 0 0 0 30.00 30.00 15.92

1252.35 0 -146.63 -1.26 0.00 3550.3 3576.9 3523.8 1724.0 2725.6 92.36 -8.48 205 1262.03 0.00 0.00 0.00 0.000 0.000 0.000 3549.44 3577.19 3521.69 1723.94 2726.19 0 0 0 30.00 30.00 30.00

1452.21 260 -146.63 -1.26 80.00 3550.5 3578.3 3522.7 1723.8 2726.2 109.37 -8.39 225 1457.98 0.00 0.00 2.98 0.000 0.000 0.118 3550.19 3576.44 3523.94 1723.44 3910.88 0 0 0 30.00 30.00 15.91

1546.51 1028 -146.63 -1.26 0.00 3549.8 3577.6 3522.1 1723.4 3910.7 117.96 -9.32 244 1553.63 0.00 0.00 2.73 0.000 0.000 0.067 3493.31 3463.12 3523.50 1722.88 2727.62 0 0 0 30.00 30.00 15.95

1737.28 0 -146.63 -1.26 0.00 3550.1 3576.9 3523.2 1724.1 2727.2 134.35 -8.70 264 1738.84 0.00 0.00 0.00 0.000 0.000 0.000 3548.53 3574.44 3522.62 1724.25 2727.69 0 0 0 30.00 30.00 30.00

1927.29 0 -146.63 -1.26 0.00 3549.8 3577.1 3522.5 1724.4 2726.6 150.63 -8.67 283 1928.86 0.00 0.00 0.00 0.000 0.000 0.000 3548.91 3575.88 3521.94 1724.00 2727.31 0 0 0 30.00 30.00 30.00

2037 end dive: TARGET_DEPTH_EXCEEDED

state 2037 begin apogee

2038.76 10243 0.00 -0.32 0.00 3550.2 3577.1 3523.2 1723.9 2573.7 160.32 -8.68 294 2153.54 105.81 1.56 0.08 1.340 0.141 0.233 2948.56 3014.69 2882.44 1955.62 2625.50 0 0 0 12.11 15.96 15.52

2165 end apogee: CONTROL_FINISHED_OK

state 2165 begin climb

2165.45 10759 146.63 1.26 -80.00 2947.2 3013.2 2881.2 1955.4 2625.0 162.56 0.00 305 2292.93 110.31 2.57 3.69 1.286 0.094 0.132 2352.31 2438.12 2266.50 2339.31 1191.50 0 0 0 11.95 15.56 15.30

2300.60 1028 146.63 1.26 0.00 2349.5 2430.8 2268.2 2340.1 1191.2 148.20 15.42 330 2308.08 0.00 0.00 3.42 0.000 0.000 0.059 2351.09 2433.25 2268.94 2339.94 2620.69 0 0 0 30.00 30.00 15.41

2496.35 260 146.63 1.26 80.00 2344.4 2423.4 2265.4 2339.5 2619.0 117.63 15.67 350 2502.31 0.00 0.00 3.34 0.000 0.000 0.125 2345.59 2423.75 2267.44 2339.62 3909.12 0 0 0 30.00 30.00 15.61

2540.63 17414 146.63 1.26 0.00 2342.1 2420.7 2263.4 2339.1 3909.8 110.16 16.61 359 2547.96 0.00 0.00 3.13 0.000 0.000 0.068 2344.12 2420.94 2267.31 2339.94 2578.06 0 0 0 30.00 30.00 15.68

2736.39 16386 146.63 1.26 0.00 2343.1 2421.2 2264.9 2339.6 2577.9 81.43 14.32 379 2737.95 0.00 0.00 0.00 0.000 0.000 0.000 2338.84 2417.25 2260.44 2340.44 2578.38 0 0 0 30.00 30.00 30.00

2921.21 16646 146.63 1.26 80.00 2341.8 2420.4 2263.1 2340.8 2578.4 54.96 14.22 397 2927.18 0.00 0.00 3.37 0.000 0.000 0.119 2341.66 2421.00 2262.31 2339.62 3908.81 0 0 0 30.00 30.00 15.78

2976.22 17414 146.63 1.26 0.00 2340.7 2417.4 2263.9 2340.1 3909.3 46.68 15.02 408 2982.82 0.00 0.00 3.11 0.000 0.000 0.068 2342.53 2418.50 2266.56 2339.56 2576.69 0 0 0 30.00 30.00 15.82

3165.82 16386 146.63 1.26 0.00 2340.7 2417.6 2263.7 2339.5 2576.1 20.81 12.92 445 3170.37 0.00 0.00 0.00 0.000 0.000 0.000 2339.16 2416.81 2261.50 2340.31 2577.25 0 0 0 30.00 30.00 30.00

3350.98 8486 237.06 1.37 80.00 2340.1 2417.5 2262.6 2338.9 2576.6 3.56 5.63 482 3430.11 67.28 0.00 3.42 1.134 0.000 0.116 1980.16 2070.31 1890.00 2340.81 3908.88 0 0 0 12.14 30.00 15.60

3508.62 11303 437.15 1.62 0.00 1975.5 2063.1 1888.0 2339.8 3908.0 2.22 0.71 513 3547.21 31.04 0.51 3.14 1.083 0.065 0.065 1819.28 1910.19 1728.38 2435.81 2575.94 0 0 0 12.01 15.70 15.71

3547 end climb: SURFACE_DEPTH_REACHED

state 3548 begin surface coast

3551 end surface coast: CONTROL_FINISHED_OK

state 3551 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	13	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	159.37779	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.797497	FG_AHR_24V	206.83354	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	250522,150814,4736.364,-12256.604,1,1.3,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,151205,4736.398,-12256.563,2,1.3,4,15.5	MHEAD_RNG_PITCHd_Wd	200.9,917,-17.1,-9.697,-20.82,2278,0.125
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	1653494834,8.7,1,stop	TEMP	10.26
NET	xm1t part outbox0003.n 797 9	INTERNAL_PRESSURE	7.91481
NET_PING	1653494596,25,1833.290894,8.800000,-1.438722	_24V_AH	14.77,112.938
WARN	HSCICON missed fuel gauge read	_10V_AH	14.75,0.000
FREEZE	1.89,13.038,-1.458,0,1,0	FG_AHR_24Vo	207.022
MODEM_MSG	CACST,8,1,20220525160002.227924,18,4388,36,0251,0000,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,4.4,3.33,-100,-0.33,-01,0.06,69,925,0025,0,-1,00,00*28	FG_AHR_10Vo	159.419
FINISH	1.9,1.020011	MEM0	60132,1,0,0
SM_CCo	3807.34,216.96,1.115,0,541.6,606.9,476.2,590.79	MEM1	65508,1,0,0
SM_GC	1.42,216.96,14.01,0.44,1.115,0.081,0.084,541.6,606.9,476.2,217.9,2774.8,0,0,0,11.96,15.58,15.62	MEM2	942820,28,103608,79
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12932,521
IRIDIUM_FIX	4736.87,-12256.21,250522,140042	CAP_FILE_SIZE	372786,0
TCM_TEMP	13.09	SDSIZE	3918848,3878656
SC_FREEKB	3874528	SDFILEDIR	373,3
PM_FREEKB_00	61186432	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	0	MAGCAL	1.000000,-0.060085,-0.109269,-0.067522,1.132982,0.021145,0.064062,-0.036047,1.116983,-881.6,-1101.4,-15.5,24,0.0263,0
MODEM	0,1653494402,47.61230,-122.96660,2.228,3263.9	IMPLIED_C_PITCH	2014,15.92,265,2022.1,15.86
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_VBD	3116,21.428425,265,3032.9
HUMID	48.56	GPS	250522,161720,4736.225,-12256.778,22,0.6,34,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1339	12835.51	nil	0	0	0.00
Pitch_motor	30	269	121.76	nil	0	0	0.00
Roll_motor	58	233	202.11	nil	0	0	0.00
Iridium	138	220	453.23	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.86	nil	0	0	0.00
Core	2281	5	172.30	SciCon	3564	8	451.88
Fast	0	0	0.00	PMAR	3568	17	934.99
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1510	0	7.13
Compass	1052	5	77.65
RAFOS	860	40	507.88
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
11.02	16386	-146.63	-1.26	0.00	537.2	597.6	476.7	216.4	2771.2	0.00	0.00	0	109.54	94.68	0.00	0.00	0.005	0.000	0.000	2783.47	2788.25	2778.69	216.75	2770.25	0	0	0	15.33	30.00	30.00
109.80	18983	-146.63	-1.26	-80.00	2782.3	2786.9	2777.7	216.5	2769.4	3.41	-2.14	18	156.87	22.64	11.95	3.64	0.006	0.269	0.123	3546.69	3570.19	3523.19	1723.62	1279.06	0	0	0	15.77	15.62	15.70
165.18	1028	-146.63	-1.26	0.00	3548.0	3572.5	3523.6	1724.0	1279.6	8.53	-9.46	28	171.78	0.00	0.00	3.52	0.000	0.000	0.063	3547.56	3571.62	3523.50	1723.88	2768.75	0	0	0	30.00	30.00	15.74
355.24	292	-146.63	-1.26	80.00	3549.0	3574.3	3523.7	1723.2	2766.9	22.89	-7.05	66	361.54	0.00	0.00	2.92	0.000	0.000	0.118	3518.97	3513.56	3524.38	1722.88	3913.06	0	0	0	30.00	30.00	15.79
555.32	1028	-146.63	-1.26	0.00	3548.7	3574.6	3522.8	1723.4	3911.0	38.71	-8.11	106	561.88	0.00	0.00	2.76	0.000	0.000	0.065	3549.19	3575.44	3522.94	1723.69	2723.81	0	0	0	30.00	30.00	15.87
748.79	548	-146.63	-1.26	-80.00	3550.2	3576.8	3523.7	1723.9	2722.4	51.83	-7.36	142	754.83	0.00	0.00	3.51	0.000	0.000	0.123	3550.78	3576.00	3525.56	1723.81	1281.19	0	0	0	30.00	30.00	15.86
838.81	1028	-146.63	-1.26	0.00	3548.6	3575.6	3521.7	1724.1	1280.8	59.74	-9.06	160	844.79	0.00	0.00	3.46	0.000	0.000	0.064	3550.53	3576.56	3524.50	1724.25	2768.75	0	0	0	30.00	30.00	15.92
1032.20	292	-146.63	-1.26	80.00	3550.3	3577.1	3523.5	1724.1	2769.3	74.54	-7.39	180	1037.87	0.00	0.00	2.88	0.000	0.000	0.120	3551.69	3577.88	3525.50	1723.75	3910.31	0	0	0	30.00	30.00	15.89
1056.48	1060	-146.63	-1.26	0.00	3549.5	3576.4	3522.6	1724.1	3910.4	76.54	-7.48	185	1063.59	0.00	0.00	2.72	0.000	0.000	0.065	3549.25	3576.19	3522.31	1724.31	2726.00	0	0	0	30.00	30.00	15.92
1252.35	0	-146.63	-1.26	0.00	3550.3	3576.9	3523.8	1724.0	2725.6	92.36	-8.48	205	1262.03	0.00	0.00	0.00	0.000	0.000	0.000	3549.44	3577.19	3521.69	1723.94	2726.19	0	0	0	30.00	30.00	30.00
1452.21	260	-146.63	-1.26	80.00	3550.5	3578.3	3522.7	1723.8	2726.2	109.37	-8.39	225	1457.98	0.00	0.00	2.98	0.000	0.000	0.118	3550.19	3576.44	3523.94	1723.44	3910.88	0	0	0	30.00	30.00	15.91
1546.51	1028	-146.63	-1.26	0.00	3549.8	3577.6	3522.1	1723.4	3910.7	117.96	-9.32	244	1553.63	0.00	0.00	2.73	0.000	0.000	0.067	3493.31	3463.12	3523.50	1722.88	2727.62	0	0	0	30.00	30.00	15.95
1737.28	0	-146.63	-1.26	0.00	3550.1	3576.9	3523.2	1724.1	2727.2	134.35	-8.70	264	1738.84	0.00	0.00	0.00	0.000	0.000	0.000	3548.53	3574.44	3522.62	1724.25	2727.69	0	0	0	30.00	30.00	30.00
1927.29	0	-146.63	-1.26	0.00	3549.8	3577.1	3522.5	1724.4	2726.6	150.63	-8.67	283	1928.86	0.00	0.00	0.00	0.000	0.000	0.000	3548.91	3575.88	3521.94	1724.00	2727.31	0	0	0	30.00	30.00	30.00
2037	end dive: TARGET_DEPTH_EXCEEDED
state	2037	begin apogee
2038.76	10243	0.00	-0.32	0.00	3550.2	3577.1	3523.2	1723.9	2573.7	160.32	-8.68	294	2153.54	105.81	1.56	0.08	1.340	0.141	0.233	2948.56	3014.69	2882.44	1955.62	2625.50	0	0	0	12.11	15.96	15.52
2165	end apogee: CONTROL_FINISHED_OK
state	2165	begin climb
2165.45	10759	146.63	1.26	-80.00	2947.2	3013.2	2881.2	1955.4	2625.0	162.56	0.00	305	2292.93	110.31	2.57	3.69	1.286	0.094	0.132	2352.31	2438.12	2266.50	2339.31	1191.50	0	0	0	11.95	15.56	15.30
2300.60	1028	146.63	1.26	0.00	2349.5	2430.8	2268.2	2340.1	1191.2	148.20	15.42	330	2308.08	0.00	0.00	3.42	0.000	0.000	0.059	2351.09	2433.25	2268.94	2339.94	2620.69	0	0	0	30.00	30.00	15.41
2496.35	260	146.63	1.26	80.00	2344.4	2423.4	2265.4	2339.5	2619.0	117.63	15.67	350	2502.31	0.00	0.00	3.34	0.000	0.000	0.125	2345.59	2423.75	2267.44	2339.62	3909.12	0	0	0	30.00	30.00	15.61
2540.63	17414	146.63	1.26	0.00	2342.1	2420.7	2263.4	2339.1	3909.8	110.16	16.61	359	2547.96	0.00	0.00	3.13	0.000	0.000	0.068	2344.12	2420.94	2267.31	2339.94	2578.06	0	0	0	30.00	30.00	15.68
2736.39	16386	146.63	1.26	0.00	2343.1	2421.2	2264.9	2339.6	2577.9	81.43	14.32	379	2737.95	0.00	0.00	0.00	0.000	0.000	0.000	2338.84	2417.25	2260.44	2340.44	2578.38	0	0	0	30.00	30.00	30.00
2921.21	16646	146.63	1.26	80.00	2341.8	2420.4	2263.1	2340.8	2578.4	54.96	14.22	397	2927.18	0.00	0.00	3.37	0.000	0.000	0.119	2341.66	2421.00	2262.31	2339.62	3908.81	0	0	0	30.00	30.00	15.78
2976.22	17414	146.63	1.26	0.00	2340.7	2417.4	2263.9	2340.1	3909.3	46.68	15.02	408	2982.82	0.00	0.00	3.11	0.000	0.000	0.068	2342.53	2418.50	2266.56	2339.56	2576.69	0	0	0	30.00	30.00	15.82
3165.82	16386	146.63	1.26	0.00	2340.7	2417.6	2263.7	2339.5	2576.1	20.81	12.92	445	3170.37	0.00	0.00	0.00	0.000	0.000	0.000	2339.16	2416.81	2261.50	2340.31	2577.25	0	0	0	30.00	30.00	30.00
3350.98	8486	237.06	1.37	80.00	2340.1	2417.5	2262.6	2338.9	2576.6	3.56	5.63	482	3430.11	67.28	0.00	3.42	1.134	0.000	0.116	1980.16	2070.31	1890.00	2340.81	3908.88	0	0	0	12.14	30.00	15.60
3508.62	11303	437.15	1.62	0.00	1975.5	2063.1	1888.0	2339.8	3908.0	2.22	0.71	513	3547.21	31.04	0.51	3.14	1.083	0.065	0.065	1819.28	1910.19	1728.38	2435.81	2575.94	0	0	0	12.01	15.70	15.71
3547	end climb: SURFACE_DEPTH_REACHED
state	3548	begin surface coast
3551	end surface coast: CONTROL_FINISHED_OK
state	3551	begin surface