Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 17 * 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 17 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 159.54749 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.99286 FG_AHR_24V 207.62253 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 159.54749 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 207.62253 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.99286 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 17 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 250522,193645,4736.787,-12256.525,1,1.5,3,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,194310,4736.852,-12256.438,2,1.5,4,15.5 MHEAD_RNG_PITCHd_Wd 188.5,1726,-17.1,-9.697,-20.82,2278,0.132

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 1653510914,65.0,0,stop INTERNAL_PRESSURE 7.93066

NET xm1t part outbox0007.n 904 0 _24V_AH 14.80,113.843

MODEM_MSG CACST,8,0,20220525200501.575453,18,13928,35,0282,0000,07,01,01,01,03,1,028,121,0,5,1,0,150,-29.2,5.99,-100,-2.99,-01,-0.59,46,925,0025,0,1,00,00*1C _10V_AH 14.76,0.000

NET_PING 1653510796,25,1597.453369,17.299999,-1.122142 FG_AHR_24Vo 207.808

FREEZE 0.13,13.892,-1.413,0,1,0 FG_AHR_10Vo 159.592

FINISH 0.1,1.019255 MEM0 60132,1,0,0

SM_CCo 4163.48,184.65,1.093,0,541.9,607.2,476.5,590.71 MEM1 65508,1,0,0

SM_GC 1.28,184.65,13.52,2.77,1.093,0.057,0.066,541.9,607.2,476.5,215.2,2725.7,0,0,0,11.99,15.66,15.68 MEM2 942768,30,103620,79

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16115,574

IRIDIUM_FIX 4736.87,-12256.21,250522,193823 CAP_FILE_SIZE 400743,0

TCM_TEMP 13.80 SDSIZE 3918848,3877152

SC_FREEKB 3873248 SDFILEDIR 411,3

PM_FREEKB_00 60855808 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1403.5

RAFOS_CLK 0 MAGCAL 1.000000,-0.029384,0.018884,-0.059528,1.135762,0.023963,0.014837,-0.001665,1.125645,-1002.4,-1115.6,-59.0,34,0.0346,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2010,15.82,283,2019.8,15.91

HUMID 48.54 IMPLIED_C_VBD 3147,24.079607,283,3048.4

TEMP 10.66 GPS 250522,205409,4736.549,-12256.568,1,0.9,24,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1314 12587.23 nil 0 0 0.00

Pitch_motor 29 262 115.59 nil 0 0 0.00

Roll_motor 63 248 232.22 nil 0 0 0.00

Iridium 244 185 670.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2558 5 193.35 SciCon 3945 6 387.74

Fast 0 0 0.00 PMAR 3946 17 1036.08

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1772 0 8.37

Compass 1171 5 86.45

RAFOS 858 40 507.07

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.39 16386 -146.63 -1.25 0.00 537.3 597.0 477.6 214.1 2726.6 0.00 0.00 0 109.53 93.28 0.00 0.00 0.005 0.000 0.000 2736.12 2738.62 2733.62 214.12 2726.19 0 0 0 15.48 30.00 30.00

109.78 18983 -146.63 -1.25 -80.00 2735.1 2737.2 2733.0 214.2 2726.2 3.24 -2.03 18 161.03 24.35 11.89 3.53 0.006 0.262 0.120 3546.09 3571.50 3520.69 1727.44 1282.06 0 0 0 15.81 15.67 15.74

164.39 1060 -146.63 -1.25 0.00 3546.7 3572.4 3520.9 1727.6 1282.1 7.03 -7.24 28 170.95 0.00 0.00 3.48 0.000 0.000 0.061 3547.34 3573.50 3521.19 1727.69 2767.75 0 0 0 30.00 30.00 15.78

354.41 292 -146.63 -1.25 80.00 3548.5 3575.1 3521.9 1727.8 2767.8 17.01 -4.44 66 360.75 0.00 0.00 2.89 0.000 0.000 0.118 3550.41 3576.25 3524.56 1726.69 3912.88 0 0 0 30.00 30.00 15.81

494.51 1060 -146.63 -1.25 0.00 3547.9 3574.9 3520.9 1727.7 3912.6 26.85 -7.13 94 500.86 0.00 0.00 2.76 0.000 0.000 0.063 3548.81 3576.06 3521.56 1727.44 2723.75 0 0 0 30.00 30.00 15.88

683.67 292 -146.63 -1.25 80.00 3549.7 3577.5 3521.9 1727.4 2722.8 37.96 -5.91 131 690.25 0.00 0.00 2.97 0.000 0.000 0.114 3549.22 3577.31 3521.12 1726.25 3912.25 0 0 0 30.00 30.00 15.87

763.72 1060 -146.63 -1.25 0.00 3548.2 3576.7 3519.8 1727.6 3912.0 43.52 -7.03 147 770.06 0.00 0.00 2.74 0.000 0.000 0.064 3549.81 3577.62 3522.00 1727.62 2723.56 0 0 0 30.00 30.00 15.91

952.21 32 -146.63 -1.25 0.00 3549.1 3578.1 3520.2 1727.9 2723.4 55.47 -6.36 176 953.77 0.00 0.00 0.00 0.000 0.000 0.000 3547.78 3576.56 3519.00 1727.81 2723.12 0 0 0 30.00 30.00 30.00

1142.21 32 -146.63 -1.25 0.00 3549.4 3577.1 3521.8 1727.9 2724.0 68.62 -7.43 195 1143.77 0.00 0.00 0.00 0.000 0.000 0.000 3548.31 3577.06 3519.56 1727.62 2722.56 0 0 0 30.00 30.00 30.00

1332.26 292 -146.63 -1.25 80.00 3549.7 3578.3 3521.1 1728.2 2721.5 83.36 -7.62 214 1337.95 0.00 0.00 2.99 0.000 0.000 0.117 3549.69 3578.19 3521.19 1727.19 3910.94 0 0 0 30.00 30.00 15.89

1376.47 1028 -146.63 -1.25 0.00 3549.8 3577.9 3521.7 1727.8 3911.4 87.08 -8.28 223 1383.59 0.00 0.00 2.74 0.000 0.000 0.066 3549.41 3577.50 3521.31 1728.00 2725.50 0 0 0 30.00 30.00 15.92

1572.22 0 -146.63 -1.25 0.00 3549.3 3577.5 3521.1 1727.2 2725.4 102.45 -7.89 243 1575.86 0.00 0.00 0.00 0.000 0.000 0.000 3549.09 3577.38 3520.81 1727.31 2725.00 0 0 0 30.00 30.00 30.00

1761.57 0 -146.63 -1.25 0.00 3549.1 3576.8 3521.4 1727.1 2725.0 117.10 -8.07 262 1765.77 0.00 0.00 0.00 0.000 0.000 0.000 3549.31 3577.50 3521.12 1727.56 2725.00 0 0 0 30.00 30.00 30.00

1955.98 260 -146.63 -1.25 80.00 3548.8 3576.6 3521.1 1727.6 2725.8 133.33 -8.14 282 1961.71 0.00 0.00 2.99 0.000 0.000 0.120 3549.72 3577.12 3522.31 1727.38 3908.88 0 0 0 30.00 30.00 15.95

1985.95 1028 -146.63 -1.25 0.00 3548.6 3577.1 3520.1 1727.7 3908.3 135.98 -8.41 288 1991.62 0.00 0.00 2.73 0.000 0.000 0.067 3549.09 3577.06 3521.12 1727.69 2724.94 0 0 0 30.00 30.00 15.99

2173.99 0 -146.63 -1.25 0.00 3548.4 3577.3 3519.6 1727.8 2725.3 151.38 -8.24 308 2175.54 0.00 0.00 0.00 0.000 0.000 0.000 3547.78 3575.38 3520.19 1727.56 2725.94 0 0 0 30.00 30.00 30.00

2284 end dive: TARGET_DEPTH_EXCEEDED

state 2284 begin apogee

2285.43 10243 0.00 -0.31 0.00 3550.0 3578.5 3521.6 1727.7 2576.4 160.47 -8.25 319 2400.21 105.56 1.53 0.07 1.315 0.140 0.249 2950.34 3015.81 2884.88 1957.38 2621.88 0 0 0 12.18 15.97 15.54

2404 end apogee: CONTROL_FINISHED_OK

state 2404 begin climb

2404.34 10759 146.63 1.25 -80.00 2946.8 3013.1 2880.4 1955.6 2622.4 162.59 0.00 330 2531.05 110.25 2.53 3.68 1.261 0.093 0.130 2351.94 2437.44 2266.44 2337.94 1189.00 0 0 0 11.89 15.57 15.31

2544.45 1028 146.63 1.25 0.00 2346.9 2428.2 2265.6 2337.2 1189.0 147.49 16.29 354 2550.46 0.00 0.00 3.43 0.000 0.000 0.059 2346.81 2425.88 2267.75 2336.94 2619.88 0 0 0 30.00 30.00 15.43

2734.07 16646 146.63 1.25 80.00 2342.4 2421.8 2262.9 2337.4 2620.4 119.31 15.24 373 2739.79 0.00 0.00 3.34 0.000 0.000 0.125 2343.28 2422.12 2264.44 2337.88 3909.56 0 0 0 30.00 30.00 15.62

2788.20 17414 146.63 1.25 0.00 2341.0 2419.7 2262.3 2336.8 3910.4 109.19 15.72 384 2794.06 0.00 0.00 3.15 0.000 0.000 0.068 2341.06 2420.69 2261.44 2337.38 2577.19 0 0 0 30.00 30.00 15.68

2978.16 16386 146.63 1.25 0.00 2340.7 2418.9 2262.4 2337.3 2576.7 81.28 14.57 404 2988.11 0.00 0.00 0.00 0.000 0.000 0.000 2339.25 2417.75 2260.75 2337.69 2576.25 0 0 0 30.00 30.00 30.00

3178.25 16646 146.63 1.25 80.00 2340.0 2418.2 2261.7 2337.8 2576.1 51.83 14.46 424 3184.21 0.00 0.00 3.39 0.000 0.000 0.118 2336.03 2414.38 2257.69 2338.06 3909.62 0 0 0 30.00 30.00 15.78

3238.27 17414 146.63 1.25 0.00 2339.0 2416.9 2261.1 2337.0 3911.2 43.15 14.18 436 3244.89 0.00 0.00 3.11 0.000 0.000 0.068 2336.81 2413.94 2259.69 2337.94 2579.69 0 0 0 30.00 30.00 15.83

3426.34 16646 146.63 1.25 80.00 2338.7 2416.0 2261.3 2337.1 2577.4 19.34 11.66 474 3433.08 0.00 0.00 3.38 0.000 0.000 0.119 2337.47 2414.38 2260.56 2338.12 3910.19 0 0 0 30.00 30.00 15.84

3481.48 17414 146.63 1.25 0.00 2338.2 2415.0 2261.3 2337.9 3910.2 12.37 12.92 485 3488.03 0.00 0.00 3.08 0.000 0.000 0.068 2337.69 2413.88 2261.50 2338.75 2577.38 0 0 0 30.00 30.00 15.88

3670.77 10535 324.82 1.47 80.00 2337.7 2414.9 2260.4 2338.2 2576.7 5.53 1.69 522 3814.06 128.82 0.29 3.47 1.120 0.072 0.116 1625.38 1719.38 1531.38 2400.19 3909.88 0 0 0 11.97 15.92 15.46

3848 end climb: SURFACE_DEPTH_REACHED

state 3848 begin surface coast

3938 end surface coast: CONTROL_FINISHED_OK

state 3938 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	17	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	159.54749	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.99286	FG_AHR_24V	207.62253	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	250522,193645,4736.787,-12256.525,1,1.5,3,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,194310,4736.852,-12256.438,2,1.5,4,15.5	MHEAD_RNG_PITCHd_Wd	188.5,1726,-17.1,-9.697,-20.82,2278,0.132
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	1653510914,65.0,0,stop	INTERNAL_PRESSURE	7.93066
NET	xm1t part outbox0007.n 904 0	_24V_AH	14.80,113.843
MODEM_MSG	CACST,8,0,20220525200501.575453,18,13928,35,0282,0000,07,01,01,01,03,1,028,121,0,5,1,0,150,-29.2,5.99,-100,-2.99,-01,-0.59,46,925,0025,0,1,00,00*1C	_10V_AH	14.76,0.000
NET_PING	1653510796,25,1597.453369,17.299999,-1.122142	FG_AHR_24Vo	207.808
FREEZE	0.13,13.892,-1.413,0,1,0	FG_AHR_10Vo	159.592
FINISH	0.1,1.019255	MEM0	60132,1,0,0
SM_CCo	4163.48,184.65,1.093,0,541.9,607.2,476.5,590.71	MEM1	65508,1,0,0
SM_GC	1.28,184.65,13.52,2.77,1.093,0.057,0.066,541.9,607.2,476.5,215.2,2725.7,0,0,0,11.99,15.66,15.68	MEM2	942768,30,103620,79
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16115,574
IRIDIUM_FIX	4736.87,-12256.21,250522,193823	CAP_FILE_SIZE	400743,0
TCM_TEMP	13.80	SDSIZE	3918848,3877152
SC_FREEKB	3873248	SDFILEDIR	411,3
PM_FREEKB_00	60855808	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1403.5
RAFOS_CLK	0	MAGCAL	1.000000,-0.029384,0.018884,-0.059528,1.135762,0.023963,0.014837,-0.001665,1.125645,-1002.4,-1115.6,-59.0,34,0.0346,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2010,15.82,283,2019.8,15.91
HUMID	48.54	IMPLIED_C_VBD	3147,24.079607,283,3048.4
TEMP	10.66	GPS	250522,205409,4736.549,-12256.568,1,0.9,24,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1314	12587.23	nil	0	0	0.00
Pitch_motor	29	262	115.59	nil	0	0	0.00
Roll_motor	63	248	232.22	nil	0	0	0.00
Iridium	244	185	670.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2558	5	193.35	SciCon	3945	6	387.74
Fast	0	0	0.00	PMAR	3946	17	1036.08
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1772	0	8.37
Compass	1171	5	86.45
RAFOS	858	40	507.07
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.39	16386	-146.63	-1.25	0.00	537.3	597.0	477.6	214.1	2726.6	0.00	0.00	0	109.53	93.28	0.00	0.00	0.005	0.000	0.000	2736.12	2738.62	2733.62	214.12	2726.19	0	0	0	15.48	30.00	30.00
109.78	18983	-146.63	-1.25	-80.00	2735.1	2737.2	2733.0	214.2	2726.2	3.24	-2.03	18	161.03	24.35	11.89	3.53	0.006	0.262	0.120	3546.09	3571.50	3520.69	1727.44	1282.06	0	0	0	15.81	15.67	15.74
164.39	1060	-146.63	-1.25	0.00	3546.7	3572.4	3520.9	1727.6	1282.1	7.03	-7.24	28	170.95	0.00	0.00	3.48	0.000	0.000	0.061	3547.34	3573.50	3521.19	1727.69	2767.75	0	0	0	30.00	30.00	15.78
354.41	292	-146.63	-1.25	80.00	3548.5	3575.1	3521.9	1727.8	2767.8	17.01	-4.44	66	360.75	0.00	0.00	2.89	0.000	0.000	0.118	3550.41	3576.25	3524.56	1726.69	3912.88	0	0	0	30.00	30.00	15.81
494.51	1060	-146.63	-1.25	0.00	3547.9	3574.9	3520.9	1727.7	3912.6	26.85	-7.13	94	500.86	0.00	0.00	2.76	0.000	0.000	0.063	3548.81	3576.06	3521.56	1727.44	2723.75	0	0	0	30.00	30.00	15.88
683.67	292	-146.63	-1.25	80.00	3549.7	3577.5	3521.9	1727.4	2722.8	37.96	-5.91	131	690.25	0.00	0.00	2.97	0.000	0.000	0.114	3549.22	3577.31	3521.12	1726.25	3912.25	0	0	0	30.00	30.00	15.87
763.72	1060	-146.63	-1.25	0.00	3548.2	3576.7	3519.8	1727.6	3912.0	43.52	-7.03	147	770.06	0.00	0.00	2.74	0.000	0.000	0.064	3549.81	3577.62	3522.00	1727.62	2723.56	0	0	0	30.00	30.00	15.91
952.21	32	-146.63	-1.25	0.00	3549.1	3578.1	3520.2	1727.9	2723.4	55.47	-6.36	176	953.77	0.00	0.00	0.00	0.000	0.000	0.000	3547.78	3576.56	3519.00	1727.81	2723.12	0	0	0	30.00	30.00	30.00
1142.21	32	-146.63	-1.25	0.00	3549.4	3577.1	3521.8	1727.9	2724.0	68.62	-7.43	195	1143.77	0.00	0.00	0.00	0.000	0.000	0.000	3548.31	3577.06	3519.56	1727.62	2722.56	0	0	0	30.00	30.00	30.00
1332.26	292	-146.63	-1.25	80.00	3549.7	3578.3	3521.1	1728.2	2721.5	83.36	-7.62	214	1337.95	0.00	0.00	2.99	0.000	0.000	0.117	3549.69	3578.19	3521.19	1727.19	3910.94	0	0	0	30.00	30.00	15.89
1376.47	1028	-146.63	-1.25	0.00	3549.8	3577.9	3521.7	1727.8	3911.4	87.08	-8.28	223	1383.59	0.00	0.00	2.74	0.000	0.000	0.066	3549.41	3577.50	3521.31	1728.00	2725.50	0	0	0	30.00	30.00	15.92
1572.22	0	-146.63	-1.25	0.00	3549.3	3577.5	3521.1	1727.2	2725.4	102.45	-7.89	243	1575.86	0.00	0.00	0.00	0.000	0.000	0.000	3549.09	3577.38	3520.81	1727.31	2725.00	0	0	0	30.00	30.00	30.00
1761.57	0	-146.63	-1.25	0.00	3549.1	3576.8	3521.4	1727.1	2725.0	117.10	-8.07	262	1765.77	0.00	0.00	0.00	0.000	0.000	0.000	3549.31	3577.50	3521.12	1727.56	2725.00	0	0	0	30.00	30.00	30.00
1955.98	260	-146.63	-1.25	80.00	3548.8	3576.6	3521.1	1727.6	2725.8	133.33	-8.14	282	1961.71	0.00	0.00	2.99	0.000	0.000	0.120	3549.72	3577.12	3522.31	1727.38	3908.88	0	0	0	30.00	30.00	15.95
1985.95	1028	-146.63	-1.25	0.00	3548.6	3577.1	3520.1	1727.7	3908.3	135.98	-8.41	288	1991.62	0.00	0.00	2.73	0.000	0.000	0.067	3549.09	3577.06	3521.12	1727.69	2724.94	0	0	0	30.00	30.00	15.99
2173.99	0	-146.63	-1.25	0.00	3548.4	3577.3	3519.6	1727.8	2725.3	151.38	-8.24	308	2175.54	0.00	0.00	0.00	0.000	0.000	0.000	3547.78	3575.38	3520.19	1727.56	2725.94	0	0	0	30.00	30.00	30.00
2284	end dive: TARGET_DEPTH_EXCEEDED
state	2284	begin apogee
2285.43	10243	0.00	-0.31	0.00	3550.0	3578.5	3521.6	1727.7	2576.4	160.47	-8.25	319	2400.21	105.56	1.53	0.07	1.315	0.140	0.249	2950.34	3015.81	2884.88	1957.38	2621.88	0	0	0	12.18	15.97	15.54
2404	end apogee: CONTROL_FINISHED_OK
state	2404	begin climb
2404.34	10759	146.63	1.25	-80.00	2946.8	3013.1	2880.4	1955.6	2622.4	162.59	0.00	330	2531.05	110.25	2.53	3.68	1.261	0.093	0.130	2351.94	2437.44	2266.44	2337.94	1189.00	0	0	0	11.89	15.57	15.31
2544.45	1028	146.63	1.25	0.00	2346.9	2428.2	2265.6	2337.2	1189.0	147.49	16.29	354	2550.46	0.00	0.00	3.43	0.000	0.000	0.059	2346.81	2425.88	2267.75	2336.94	2619.88	0	0	0	30.00	30.00	15.43
2734.07	16646	146.63	1.25	80.00	2342.4	2421.8	2262.9	2337.4	2620.4	119.31	15.24	373	2739.79	0.00	0.00	3.34	0.000	0.000	0.125	2343.28	2422.12	2264.44	2337.88	3909.56	0	0	0	30.00	30.00	15.62
2788.20	17414	146.63	1.25	0.00	2341.0	2419.7	2262.3	2336.8	3910.4	109.19	15.72	384	2794.06	0.00	0.00	3.15	0.000	0.000	0.068	2341.06	2420.69	2261.44	2337.38	2577.19	0	0	0	30.00	30.00	15.68
2978.16	16386	146.63	1.25	0.00	2340.7	2418.9	2262.4	2337.3	2576.7	81.28	14.57	404	2988.11	0.00	0.00	0.00	0.000	0.000	0.000	2339.25	2417.75	2260.75	2337.69	2576.25	0	0	0	30.00	30.00	30.00
3178.25	16646	146.63	1.25	80.00	2340.0	2418.2	2261.7	2337.8	2576.1	51.83	14.46	424	3184.21	0.00	0.00	3.39	0.000	0.000	0.118	2336.03	2414.38	2257.69	2338.06	3909.62	0	0	0	30.00	30.00	15.78
3238.27	17414	146.63	1.25	0.00	2339.0	2416.9	2261.1	2337.0	3911.2	43.15	14.18	436	3244.89	0.00	0.00	3.11	0.000	0.000	0.068	2336.81	2413.94	2259.69	2337.94	2579.69	0	0	0	30.00	30.00	15.83
3426.34	16646	146.63	1.25	80.00	2338.7	2416.0	2261.3	2337.1	2577.4	19.34	11.66	474	3433.08	0.00	0.00	3.38	0.000	0.000	0.119	2337.47	2414.38	2260.56	2338.12	3910.19	0	0	0	30.00	30.00	15.84
3481.48	17414	146.63	1.25	0.00	2338.2	2415.0	2261.3	2337.9	3910.2	12.37	12.92	485	3488.03	0.00	0.00	3.08	0.000	0.000	0.068	2337.69	2413.88	2261.50	2338.75	2577.38	0	0	0	30.00	30.00	15.88
3670.77	10535	324.82	1.47	80.00	2337.7	2414.9	2260.4	2338.2	2576.7	5.53	1.69	522	3814.06	128.82	0.29	3.47	1.120	0.072	0.116	1625.38	1719.38	1531.38	2400.19	3909.88	0	0	0	11.97	15.92	15.46
3848	end climb: SURFACE_DEPTH_REACHED
state	3848	begin surface coast
3938	end surface coast: CONTROL_FINISHED_OK
state	3938	begin surface