Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 16 * 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 16 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 159.4982 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.93252 FG_AHR_24V 207.42334 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 159.4982 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 207.42334 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.93252 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 16 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 250522,182240,4736.438,-12256.871,1,1.3,21,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,182640,4736.480,-12256.846,3,0.9,5,15.5 MHEAD_RNG_PITCHd_Wd 14.5,1112,-17.1,-9.697,-20.82,2278,0.172

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653507365,0.3,0,stop _24V_AH 14.80,113.613

NET CACST,8,1,20220525192319.901003,06,32767,45,0206,0150,29,01,01,00,01,-1,-01,-01,1,3,11642,0,150,19.4,0.59,-100,2.41,-01,0.39,56,10000,5000,0,-1,00,00*5D _10V_AH 14.76,0.000

NET_PING 1653505991,25,1494.458984,18.799999,-0.987194 FG_AHR_24Vo 207.610

FREEZE 0.17,14.014,-1.427,0,1,0 FG_AHR_10Vo 159.546

FINISH 0.2,1.019425 MEM0 60132,1,0,0

SM_CCo 4126.80,212.15,1.100,0,541.6,608.7,474.6,590.77 MEM1 65508,1,0,0

SM_GC 1.45,212.15,13.43,3.75,1.100,0.059,0.065,541.6,608.7,474.6,215.4,2765.2,0,0,0,12.08,15.72,15.72 MEM2 942812,29,103596,79

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16106,582

IRIDIUM_FIX 4735.53,-12254.47,250522,171203 CAP_FILE_SIZE 409060,0

TCM_TEMP 13.48 SDSIZE 3918848,3877568

SC_FREEKB 3873568 SDFILEDIR 400,3

PM_FREEKB_00 60948160 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,-0.028451,0.031050,-0.055246,1.114737,0.030066,0.028560,-0.019751,1.098941,-1013.8,-1120.5,-32.3,32,0.0312,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2012,16.05,279,2021.2,15.99

HUMID 48.39 IMPLIED_C_VBD 3142,27.474236,279,3046.0

TEMP 10.61 GPS 250522,193645,4736.787,-12256.525,1,1.5,3,15.5

INTERNAL_PRESSURE 7.92905

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1316 12593.31 nil 0 0 0.00

Pitch_motor 29 270 119.06 nil 0 0 0.00

Roll_motor 72 236 253.84 nil 0 0 0.00

Iridium 151 218 489.34 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.13 nil 0 0 0.00

Core 2502 5 189.09 SciCon 3881 6 371.08

Fast 0 0 0.00 PMAR 3888 17 1020.11

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1619 0 7.65

Compass 1173 5 86.60

RAFOS 1283 40 757.49

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

11.03 16386 -146.63 -1.25 0.00 537.6 599.1 476.1 212.7 2725.2 0.00 0.00 0 121.41 106.14 0.00 0.00 0.005 0.000 0.000 3099.16 3099.81 3098.50 212.81 2725.50 0 0 0 15.74 30.00 30.00

121.67 18727 -146.63 -1.25 80.00 3097.9 3099.0 3096.8 212.9 2724.4 3.44 -2.26 19 157.21 10.84 12.06 2.95 0.007 0.271 0.124 3546.44 3571.25 3521.62 1726.56 3910.25 0 0 0 15.77 15.62 15.69

160.53 1028 -146.63 -1.25 0.00 3546.6 3570.7 3522.4 1726.3 3909.2 10.06 -14.10 26 166.78 0.00 0.00 2.74 0.000 0.000 0.064 3546.56 3571.19 3521.94 1726.38 2724.00 0 0 0 30.00 30.00 15.73

351.61 548 -146.63 -1.25 -80.00 3548.2 3574.8 3521.6 1726.1 2723.1 19.70 -4.91 63 361.73 0.00 0.00 3.51 0.000 0.000 0.121 3548.38 3575.12 3521.62 1726.81 1282.00 0 0 0 30.00 30.00 15.74

590.36 1060 -146.63 -1.25 0.00 3548.7 3575.8 3521.7 1727.1 1282.1 34.93 -6.73 111 597.10 0.00 0.00 3.53 0.000 0.000 0.060 3548.81 3576.06 3521.56 1726.75 2767.56 0 0 0 30.00 30.00 15.85

778.59 548 -146.63 -1.25 -80.00 3549.2 3576.7 3521.7 1726.1 2767.0 45.94 -6.00 149 785.38 0.00 0.00 3.61 0.000 0.000 0.117 3548.09 3576.06 3520.12 1726.38 1282.06 0 0 0 30.00 30.00 15.85

848.83 1060 -146.63 -1.25 0.00 3549.0 3576.6 3521.4 1726.6 1281.8 51.08 -7.44 163 854.88 0.00 0.00 3.51 0.000 0.000 0.061 3548.81 3575.94 3521.69 1726.19 2769.44 0 0 0 30.00 30.00 15.89

1038.86 292 -146.63 -1.25 80.00 3549.2 3577.1 3521.2 1726.1 2769.9 64.45 -7.21 183 1044.52 0.00 0.00 2.89 0.000 0.000 0.121 3550.03 3578.38 3521.69 1727.00 3911.75 0 0 0 30.00 30.00 15.89

1118.83 1028 -146.63 -1.25 0.00 3548.9 3576.6 3521.2 1726.1 3909.6 71.11 -8.60 199 1124.48 0.00 0.00 2.74 0.000 0.000 0.064 3551.00 3579.19 3522.81 1726.19 2723.75 0 0 0 30.00 30.00 15.93

1308.86 516 -146.63 -1.25 -80.00 3550.1 3577.9 3522.2 1726.3 2724.4 86.23 -7.78 219 1315.05 0.00 0.00 3.48 0.000 0.000 0.123 3549.28 3579.19 3519.38 1725.62 1281.56 0 0 0 30.00 30.00 15.92

1343.14 1028 -146.63 -1.25 0.00 3549.6 3577.2 3522.1 1726.3 1281.6 89.37 -8.60 226 1350.65 0.00 0.00 3.49 0.000 0.000 0.064 3550.12 3576.88 3523.38 1726.75 2767.06 0 0 0 30.00 30.00 15.95

1532.93 292 -146.63 -1.25 80.00 3548.0 3575.8 3520.3 1726.7 2769.6 104.06 -7.56 246 1538.63 0.00 0.00 2.89 0.000 0.000 0.123 3549.56 3576.75 3522.38 1725.62 3914.50 0 0 0 30.00 30.00 15.94

1630.95 1028 -146.63 -1.25 0.00 3549.0 3576.2 3521.7 1725.4 3914.1 112.59 -9.38 265 1638.08 0.00 0.00 2.74 0.000 0.000 0.067 3550.72 3578.50 3522.94 1727.19 2726.88 0 0 0 30.00 30.00 15.97

1826.71 0 -146.63 -1.25 0.00 3549.6 3577.7 3521.5 1726.6 2727.3 129.48 -8.64 285 1828.27 0.00 0.00 0.00 0.000 0.000 0.000 3549.00 3577.31 3520.69 1726.62 2727.88 0 0 0 30.00 30.00 30.00

2011.21 0 -146.63 -1.25 0.00 3549.4 3576.7 3522.1 1726.1 2727.4 145.55 -8.53 303 2012.78 0.00 0.00 0.00 0.000 0.000 0.000 3548.88 3576.75 3521.00 1726.12 2727.50 0 0 0 30.00 30.00 30.00

2201 end dive: TARGET_DEPTH_EXCEEDED

state 2201 begin apogee

2202.72 10243 0.00 -0.31 0.00 3549.7 3577.7 3521.6 1726.5 2574.2 160.58 -8.04 322 2317.41 105.71 1.48 0.08 1.317 0.140 0.237 2948.53 3015.25 2881.81 1954.56 2623.38 0 0 0 12.18 15.92 15.51

2320 end apogee: CONTROL_FINISHED_OK

state 2320 begin climb

2321.06 10759 146.63 1.25 -80.00 2947.0 3013.0 2881.0 1954.1 2623.0 162.50 0.00 333 2449.67 110.48 2.54 3.69 1.260 0.092 0.131 2348.53 2430.81 2266.25 2338.56 1189.81 0 0 0 11.87 15.53 15.30

2473.16 1028 146.63 1.25 0.00 2346.2 2426.5 2265.8 2338.0 1190.1 145.39 16.67 361 2479.40 0.00 0.00 3.42 0.000 0.000 0.059 2347.44 2426.19 2268.69 2337.75 2620.25 0 0 0 30.00 30.00 15.45

2663.18 16646 146.63 1.25 80.00 2342.3 2421.8 2262.9 2338.8 2620.6 116.06 14.95 381 2669.31 0.00 0.00 3.33 0.000 0.000 0.126 2338.44 2417.31 2259.56 2339.31 3910.69 0 0 0 30.00 30.00 15.63

2713.19 17414 146.63 1.25 0.00 2342.6 2420.8 2264.4 2338.1 3912.9 108.16 15.88 391 2719.22 0.00 0.00 3.15 0.000 0.000 0.068 2341.88 2420.00 2263.75 2337.81 2578.62 0 0 0 30.00 30.00 15.69

2903.21 16646 146.63 1.25 80.00 2340.8 2419.2 2262.3 2338.1 2579.4 80.32 14.63 411 2909.35 0.00 0.00 3.38 0.000 0.000 0.120 2339.06 2418.19 2259.94 2338.88 3908.69 0 0 0 30.00 30.00 15.74

2937.49 17414 146.63 1.25 0.00 2339.8 2417.9 2261.6 2338.8 3907.3 74.96 15.37 418 2945.01 0.00 0.00 3.12 0.000 0.000 0.068 2333.75 2404.06 2263.44 2337.62 2578.25 0 0 0 30.00 30.00 15.79

3128.25 16646 146.63 1.25 80.00 2340.8 2418.3 2263.3 2339.0 2578.2 48.25 14.02 438 3135.11 0.00 0.00 3.37 0.000 0.000 0.119 2338.09 2416.06 2260.12 2339.19 3910.19 0 0 0 30.00 30.00 15.81

3158.59 17414 146.63 1.25 0.00 2339.3 2416.1 2262.6 2338.4 3909.2 43.67 15.30 444 3165.36 0.00 0.00 3.12 0.000 0.000 0.067 2338.41 2415.75 2261.06 2338.19 2579.69 0 0 0 30.00 30.00 15.85

3349.70 16386 146.63 1.25 0.00 2339.3 2416.2 2262.4 2338.8 2579.5 18.76 12.63 481 3353.34 0.00 0.00 0.00 0.000 0.000 0.000 2337.78 2415.19 2260.38 2338.62 2578.81 0 0 0 30.00 30.00 30.00

3538.64 10791 285.06 1.42 -80.00 2338.5 2416.2 2260.9 2338.4 2579.1 4.95 3.48 519 3651.37 100.94 0.22 3.53 1.122 0.085 0.133 1786.06 1881.25 1690.88 2386.38 1188.88 0 0 0 12.14 15.92 15.53

3748 end climb: SURFACE_DEPTH_REACHED

state 3748 begin surface coast

3868 end surface coast: CONTROL_FINISHED_OK

state 3869 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	16	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	159.4982	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.93252	FG_AHR_24V	207.42334	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	250522,182240,4736.438,-12256.871,1,1.3,21,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,182640,4736.480,-12256.846,3,0.9,5,15.5	MHEAD_RNG_PITCHd_Wd	14.5,1112,-17.1,-9.697,-20.82,2278,0.172
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	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	4737.000,-12256.400

NAV	1653507365,0.3,0,stop	_24V_AH	14.80,113.613
NET	CACST,8,1,20220525192319.901003,06,32767,45,0206,0150,29,01,01,00,01,-1,-01,-01,1,3,11642,0,150,19.4,0.59,-100,2.41,-01,0.39,56,10000,5000,0,-1,00,00*5D	_10V_AH	14.76,0.000
NET_PING	1653505991,25,1494.458984,18.799999,-0.987194	FG_AHR_24Vo	207.610
FREEZE	0.17,14.014,-1.427,0,1,0	FG_AHR_10Vo	159.546
FINISH	0.2,1.019425	MEM0	60132,1,0,0
SM_CCo	4126.80,212.15,1.100,0,541.6,608.7,474.6,590.77	MEM1	65508,1,0,0
SM_GC	1.45,212.15,13.43,3.75,1.100,0.059,0.065,541.6,608.7,474.6,215.4,2765.2,0,0,0,12.08,15.72,15.72	MEM2	942812,29,103596,79
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16106,582
IRIDIUM_FIX	4735.53,-12254.47,250522,171203	CAP_FILE_SIZE	409060,0
TCM_TEMP	13.48	SDSIZE	3918848,3877568
SC_FREEKB	3873568	SDFILEDIR	400,3
PM_FREEKB_00	60948160	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,-0.028451,0.031050,-0.055246,1.114737,0.030066,0.028560,-0.019751,1.098941,-1013.8,-1120.5,-32.3,32,0.0312,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2012,16.05,279,2021.2,15.99
HUMID	48.39	IMPLIED_C_VBD	3142,27.474236,279,3046.0
TEMP	10.61	GPS	250522,193645,4736.787,-12256.525,1,1.5,3,15.5
INTERNAL_PRESSURE	7.92905

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1316	12593.31	nil	0	0	0.00
Pitch_motor	29	270	119.06	nil	0	0	0.00
Roll_motor	72	236	253.84	nil	0	0	0.00
Iridium	151	218	489.34	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.13	nil	0	0	0.00
Core	2502	5	189.09	SciCon	3881	6	371.08
Fast	0	0	0.00	PMAR	3888	17	1020.11
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1619	0	7.65
Compass	1173	5	86.60
RAFOS	1283	40	757.49
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
11.03	16386	-146.63	-1.25	0.00	537.6	599.1	476.1	212.7	2725.2	0.00	0.00	0	121.41	106.14	0.00	0.00	0.005	0.000	0.000	3099.16	3099.81	3098.50	212.81	2725.50	0	0	0	15.74	30.00	30.00
121.67	18727	-146.63	-1.25	80.00	3097.9	3099.0	3096.8	212.9	2724.4	3.44	-2.26	19	157.21	10.84	12.06	2.95	0.007	0.271	0.124	3546.44	3571.25	3521.62	1726.56	3910.25	0	0	0	15.77	15.62	15.69
160.53	1028	-146.63	-1.25	0.00	3546.6	3570.7	3522.4	1726.3	3909.2	10.06	-14.10	26	166.78	0.00	0.00	2.74	0.000	0.000	0.064	3546.56	3571.19	3521.94	1726.38	2724.00	0	0	0	30.00	30.00	15.73
351.61	548	-146.63	-1.25	-80.00	3548.2	3574.8	3521.6	1726.1	2723.1	19.70	-4.91	63	361.73	0.00	0.00	3.51	0.000	0.000	0.121	3548.38	3575.12	3521.62	1726.81	1282.00	0	0	0	30.00	30.00	15.74
590.36	1060	-146.63	-1.25	0.00	3548.7	3575.8	3521.7	1727.1	1282.1	34.93	-6.73	111	597.10	0.00	0.00	3.53	0.000	0.000	0.060	3548.81	3576.06	3521.56	1726.75	2767.56	0	0	0	30.00	30.00	15.85
778.59	548	-146.63	-1.25	-80.00	3549.2	3576.7	3521.7	1726.1	2767.0	45.94	-6.00	149	785.38	0.00	0.00	3.61	0.000	0.000	0.117	3548.09	3576.06	3520.12	1726.38	1282.06	0	0	0	30.00	30.00	15.85
848.83	1060	-146.63	-1.25	0.00	3549.0	3576.6	3521.4	1726.6	1281.8	51.08	-7.44	163	854.88	0.00	0.00	3.51	0.000	0.000	0.061	3548.81	3575.94	3521.69	1726.19	2769.44	0	0	0	30.00	30.00	15.89
1038.86	292	-146.63	-1.25	80.00	3549.2	3577.1	3521.2	1726.1	2769.9	64.45	-7.21	183	1044.52	0.00	0.00	2.89	0.000	0.000	0.121	3550.03	3578.38	3521.69	1727.00	3911.75	0	0	0	30.00	30.00	15.89
1118.83	1028	-146.63	-1.25	0.00	3548.9	3576.6	3521.2	1726.1	3909.6	71.11	-8.60	199	1124.48	0.00	0.00	2.74	0.000	0.000	0.064	3551.00	3579.19	3522.81	1726.19	2723.75	0	0	0	30.00	30.00	15.93
1308.86	516	-146.63	-1.25	-80.00	3550.1	3577.9	3522.2	1726.3	2724.4	86.23	-7.78	219	1315.05	0.00	0.00	3.48	0.000	0.000	0.123	3549.28	3579.19	3519.38	1725.62	1281.56	0	0	0	30.00	30.00	15.92
1343.14	1028	-146.63	-1.25	0.00	3549.6	3577.2	3522.1	1726.3	1281.6	89.37	-8.60	226	1350.65	0.00	0.00	3.49	0.000	0.000	0.064	3550.12	3576.88	3523.38	1726.75	2767.06	0	0	0	30.00	30.00	15.95
1532.93	292	-146.63	-1.25	80.00	3548.0	3575.8	3520.3	1726.7	2769.6	104.06	-7.56	246	1538.63	0.00	0.00	2.89	0.000	0.000	0.123	3549.56	3576.75	3522.38	1725.62	3914.50	0	0	0	30.00	30.00	15.94
1630.95	1028	-146.63	-1.25	0.00	3549.0	3576.2	3521.7	1725.4	3914.1	112.59	-9.38	265	1638.08	0.00	0.00	2.74	0.000	0.000	0.067	3550.72	3578.50	3522.94	1727.19	2726.88	0	0	0	30.00	30.00	15.97
1826.71	0	-146.63	-1.25	0.00	3549.6	3577.7	3521.5	1726.6	2727.3	129.48	-8.64	285	1828.27	0.00	0.00	0.00	0.000	0.000	0.000	3549.00	3577.31	3520.69	1726.62	2727.88	0	0	0	30.00	30.00	30.00
2011.21	0	-146.63	-1.25	0.00	3549.4	3576.7	3522.1	1726.1	2727.4	145.55	-8.53	303	2012.78	0.00	0.00	0.00	0.000	0.000	0.000	3548.88	3576.75	3521.00	1726.12	2727.50	0	0	0	30.00	30.00	30.00
2201	end dive: TARGET_DEPTH_EXCEEDED
state	2201	begin apogee
2202.72	10243	0.00	-0.31	0.00	3549.7	3577.7	3521.6	1726.5	2574.2	160.58	-8.04	322	2317.41	105.71	1.48	0.08	1.317	0.140	0.237	2948.53	3015.25	2881.81	1954.56	2623.38	0	0	0	12.18	15.92	15.51
2320	end apogee: CONTROL_FINISHED_OK
state	2320	begin climb
2321.06	10759	146.63	1.25	-80.00	2947.0	3013.0	2881.0	1954.1	2623.0	162.50	0.00	333	2449.67	110.48	2.54	3.69	1.260	0.092	0.131	2348.53	2430.81	2266.25	2338.56	1189.81	0	0	0	11.87	15.53	15.30
2473.16	1028	146.63	1.25	0.00	2346.2	2426.5	2265.8	2338.0	1190.1	145.39	16.67	361	2479.40	0.00	0.00	3.42	0.000	0.000	0.059	2347.44	2426.19	2268.69	2337.75	2620.25	0	0	0	30.00	30.00	15.45
2663.18	16646	146.63	1.25	80.00	2342.3	2421.8	2262.9	2338.8	2620.6	116.06	14.95	381	2669.31	0.00	0.00	3.33	0.000	0.000	0.126	2338.44	2417.31	2259.56	2339.31	3910.69	0	0	0	30.00	30.00	15.63
2713.19	17414	146.63	1.25	0.00	2342.6	2420.8	2264.4	2338.1	3912.9	108.16	15.88	391	2719.22	0.00	0.00	3.15	0.000	0.000	0.068	2341.88	2420.00	2263.75	2337.81	2578.62	0	0	0	30.00	30.00	15.69
2903.21	16646	146.63	1.25	80.00	2340.8	2419.2	2262.3	2338.1	2579.4	80.32	14.63	411	2909.35	0.00	0.00	3.38	0.000	0.000	0.120	2339.06	2418.19	2259.94	2338.88	3908.69	0	0	0	30.00	30.00	15.74
2937.49	17414	146.63	1.25	0.00	2339.8	2417.9	2261.6	2338.8	3907.3	74.96	15.37	418	2945.01	0.00	0.00	3.12	0.000	0.000	0.068	2333.75	2404.06	2263.44	2337.62	2578.25	0	0	0	30.00	30.00	15.79
3128.25	16646	146.63	1.25	80.00	2340.8	2418.3	2263.3	2339.0	2578.2	48.25	14.02	438	3135.11	0.00	0.00	3.37	0.000	0.000	0.119	2338.09	2416.06	2260.12	2339.19	3910.19	0	0	0	30.00	30.00	15.81
3158.59	17414	146.63	1.25	0.00	2339.3	2416.1	2262.6	2338.4	3909.2	43.67	15.30	444	3165.36	0.00	0.00	3.12	0.000	0.000	0.067	2338.41	2415.75	2261.06	2338.19	2579.69	0	0	0	30.00	30.00	15.85
3349.70	16386	146.63	1.25	0.00	2339.3	2416.2	2262.4	2338.8	2579.5	18.76	12.63	481	3353.34	0.00	0.00	0.00	0.000	0.000	0.000	2337.78	2415.19	2260.38	2338.62	2578.81	0	0	0	30.00	30.00	30.00
3538.64	10791	285.06	1.42	-80.00	2338.5	2416.2	2260.9	2338.4	2579.1	4.95	3.48	519	3651.37	100.94	0.22	3.53	1.122	0.085	0.133	1786.06	1881.25	1690.88	2386.38	1188.88	0	0	0	12.14	15.92	15.53
3748	end climb: SURFACE_DEPTH_REACHED
state	3748	begin surface coast
3868	end surface coast: CONTROL_FINISHED_OK
state	3869	begin surface