Glider dive log

HoodCanal 23May22 * SG235 * Dive index * Mission links * Dive 2 * 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 18 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 2 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 2 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 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 170 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 2 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 50 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 70 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2030 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 158.15138 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.783392 FG_AHR_24V 201.38861 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 150 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 158.15138 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 201.38861 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.783392 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 15 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 50

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 70

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 2

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 18 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 2 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 170 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 2 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 230522,171227,4737.044,-12256.347,1,1.5,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,171710,4737.058,-12256.310,2,0.9,26,15.5 MHEAD_RNG_PITCHd_Wd 188.3,2140,-17.6,-10.000,-21.21,2209,0.151

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME S IRON 1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653329235,26.8,0,stop INTERNAL_PRESSURE 7.92994

NET CACST,8,0,20220523175009.536002,06,32767,45,0124,0150,07,01,01,00,01,1,025,235,0,5,1,0,150,16.6,4.76,-100,-1.76,-01,-0.13,53,10000,5000,0,-1,00,00*71 _24V_AH 14.82,106.999

NET_PING 1653328212,25,1805.489990,16.600000,-1.403229 _10V_AH 14.81,0.000

FREEZE 1.82,14.221,-1.464,0,1,0 FG_AHR_24Vo 201.575

FINISH 1.8,1.019875 FG_AHR_10Vo 158.190

SM_CCo 3538.06,243.81,1.108,0,541.8,612.2,471.4,590.73 MEM0 60148,1,0,0

SM_GC 1.57,243.81,13.72,0.42,1.108,0.082,0.091,541.8,612.2,471.4,218.9,2774.9,0,0,0,12.00,15.64,15.68 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 942776,26,103632,82

IRIDIUM_FIX 4738.33,-12256.21,230522,161544 DATA_FILE_SIZE 12904,472

TCM_TEMP 13.07 CAP_FILE_SIZE 338907,0

SC_FREEKB 3878048 SDSIZE 3918848,3884992

PM_FREEKB_00 62194048 SDFILEDIR 257,3

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

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2003,15.76,248,2016.7,15.77

HUMID 48.69 IMPLIED_C_VBD 3115,25.739799,248,3032.5

TEMP 10.59 GPS 230522,181726,4736.779,-12256.490,1,1.1,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1320 12660.76 nil 0 0 0.00

Pitch_motor 29 265 116.48 nil 0 0 0.00

Roll_motor 49 270 197.00 nil 0 0 0.00

Iridium 174 191 495.33 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 35 15 7.92 nil 0 0 0.00

Core 2177 5 165.11 SciCon 3260 6 306.34

Fast 0 0 0.00 PMAR 3269 17 852.67

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1372 0 6.50

Compass 981 5 72.66

RAFOS 871 40 516.18

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

12.28 16386 -146.63 -1.30 0.00 538.8 604.2 473.4 214.9 2725.6 0.00 0.00 0 112.15 95.85 0.00 0.00 0.005 0.000 0.000 2807.75 2811.44 2804.06 215.25 2725.44 0 0 0 15.81 30.00 30.00

112.40 18727 -146.63 -1.30 80.00 2807.6 2812.4 2802.7 215.2 2725.4 3.22 -1.86 19 156.32 20.65 11.60 2.87 0.006 0.265 0.128 3546.62 3573.75 3519.50 1716.56 3912.50 0 0 0 15.25 15.71 15.77

354.70 1060 -146.63 -1.30 0.00 3548.6 3577.8 3519.4 1716.3 3911.1 21.00 -5.20 66 360.89 0.00 0.00 2.73 0.000 0.000 0.068 3549.31 3578.94 3519.69 1716.62 2723.94 0 0 0 30.00 30.00 15.89

544.71 32 -146.63 -1.30 0.00 3550.3 3579.6 3521.1 1716.0 2723.4 31.25 -5.78 104 549.18 0.00 0.00 0.00 0.000 0.000 0.000 3549.62 3579.12 3520.12 1717.00 2724.00 0 0 0 30.00 30.00 30.00

738.51 32 -146.63 -1.30 0.00 3550.1 3580.2 3519.9 1715.9 2722.9 43.69 -7.00 140 741.99 0.00 0.00 0.00 0.000 0.000 0.000 3550.03 3580.12 3519.94 1716.50 2722.38 0 0 0 30.00 30.00 30.00

932.13 32 -146.63 -1.30 0.00 3550.6 3580.4 3520.8 1716.6 2723.2 58.78 -7.71 168 933.65 0.00 0.00 0.00 0.000 0.000 0.000 3549.88 3579.25 3520.50 1716.94 2722.94 0 0 0 30.00 30.00 30.00

1122.10 260 -146.63 -1.30 80.00 3551.7 3582.5 3520.8 1716.8 2723.1 74.79 -8.33 187 1127.68 0.00 0.00 2.85 0.000 0.000 0.127 3552.25 3583.62 3520.88 1716.12 3911.00 0 0 0 30.00 30.00 15.94

1166.38 1028 -146.63 -1.30 0.00 3550.2 3579.7 3520.8 1715.8 3910.2 78.82 -9.08 196 1173.38 0.00 0.00 2.71 0.000 0.000 0.070 3550.56 3580.56 3520.56 1716.12 2723.69 0 0 0 30.00 30.00 15.97

1362.10 32 -146.63 -1.30 0.00 3551.0 3581.4 3520.6 1716.9 2723.6 94.74 -7.98 216 1371.99 0.00 0.00 0.00 0.000 0.000 0.000 3550.28 3581.25 3519.31 1716.12 2724.31 0 0 0 30.00 30.00 30.00

1562.13 260 -146.63 -1.30 80.00 3550.7 3580.4 3521.0 1715.8 2723.9 110.94 -8.50 236 1567.70 0.00 0.00 2.86 0.000 0.000 0.129 3551.44 3581.94 3520.94 1716.12 3909.38 0 0 0 30.00 30.00 15.97

1596.41 1028 -146.63 -1.30 0.00 3549.9 3579.7 3520.2 1715.9 3911.1 114.18 -8.98 243 1603.39 0.00 0.00 2.71 0.000 0.000 0.071 3551.50 3580.88 3522.12 1716.12 2723.81 0 0 0 30.00 30.00 16.01

1792.15 260 -146.63 -1.30 80.00 3551.2 3581.0 3521.4 1716.6 2724.8 131.76 -9.02 263 1797.72 0.00 0.00 2.88 0.000 0.000 0.130 3552.06 3581.06 3523.06 1716.19 3912.56 0 0 0 30.00 30.00 15.99

1826.43 1028 -146.63 -1.30 0.00 3551.2 3581.5 3520.9 1716.8 3912.3 135.23 -9.92 270 1833.43 0.00 0.00 2.71 0.000 0.000 0.072 3549.38 3579.44 3519.31 1715.88 2725.25 0 0 0 30.00 30.00 16.03

1992 end dive: TARGET_DEPTH_EXCEEDED

state 1992 begin apogee

1993.60 10243 0.00 -0.32 0.00 3550.4 3580.4 3520.4 1716.1 2575.5 150.49 -9.21 287 2107.74 106.25 1.55 0.06 1.321 0.139 0.271 2947.22 3013.06 2881.38 1956.50 2621.62 0 0 0 12.20 15.99 15.56

2114 end apogee: CONTROL_FINISHED_OK

state 2114 begin climb

2114.53 10759 146.63 1.30 -80.00 2947.3 3012.9 2881.7 1956.0 2622.1 152.75 0.00 298 2240.36 109.64 2.51 3.60 1.269 0.089 0.135 2349.00 2429.50 2268.50 2349.44 1188.56 0 0 0 11.91 15.60 15.35

2247.99 1028 146.63 1.30 0.00 2347.5 2426.9 2268.1 2349.1 1188.1 138.56 15.93 323 2255.21 0.00 0.00 3.36 0.000 0.000 0.063 2346.41 2426.69 2266.12 2349.38 2620.94 0 0 0 30.00 30.00 15.44

2443.68 16646 146.63 1.30 80.00 2343.2 2420.9 2265.5 2349.9 2621.1 107.21 15.99 343 2449.37 0.00 0.00 3.19 0.000 0.000 0.131 2344.62 2420.69 2268.56 2348.62 3911.69 0 0 0 30.00 30.00 15.66

2526.25 17414 146.63 1.30 0.00 2341.9 2418.2 2265.6 2349.6 3910.4 92.99 16.86 358 2538.85 0.00 0.00 3.10 0.000 0.000 0.071 2341.41 2419.31 2263.50 2349.62 2577.44 0 0 0 30.00 30.00 15.74

2722.14 16386 146.63 1.30 0.00 2341.7 2418.4 2265.0 2349.8 2577.7 63.38 14.63 378 2723.66 0.00 0.00 0.00 0.000 0.000 0.000 2337.81 2414.38 2261.25 2349.06 2578.50 0 0 0 30.00 30.00 30.00

2907.15 16646 146.63 1.30 80.00 2341.3 2417.9 2264.6 2349.4 2578.5 36.73 14.86 405 2913.66 0.00 0.00 3.23 0.000 0.000 0.124 2339.91 2417.31 2262.50 2349.81 3912.69 0 0 0 30.00 30.00 15.81

2967.54 17414 146.63 1.30 0.00 2339.5 2414.8 2264.2 2349.2 3912.9 26.75 16.33 417 2973.82 0.00 0.00 3.09 0.000 0.000 0.071 2342.22 2418.19 2266.25 2349.06 2578.75 0 0 0 30.00 30.00 15.86

3156.74 8486 191.35 1.35 80.00 2340.0 2415.4 2264.6 2350.4 2577.2 4.96 7.93 454 3200.07 34.12 0.00 3.25 1.113 0.000 0.123 2168.28 2254.25 2082.31 2349.31 3910.69 0 0 0 12.12 30.00 15.74

3203.56 11303 293.68 1.48 0.00 2166.2 2249.7 2082.7 2350.1 3910.6 3.13 5.26 463 3247.24 36.42 0.23 3.10 1.090 0.087 0.068 1977.03 2067.56 1886.50 2398.50 2576.31 0 0 0 12.10 15.77 15.78

3248 end climb: SURFACE_DEPTH_REACHED

state 3248 begin surface coast

3251 end surface coast: CONTROL_FINISHED_OK

state 3251 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	18	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	2	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	2	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	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	170	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	2	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	50	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	70	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2030	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	158.15138	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.783392	FG_AHR_24V	201.38861	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	230522,171227,4737.044,-12256.347,1,1.5,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,171710,4737.058,-12256.310,2,0.9,26,15.5	MHEAD_RNG_PITCHd_Wd	188.3,2140,-17.6,-10.000,-21.21,2209,0.151
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	S	IRON	1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381
TGT_LATLONG	4736.000,-12257.000

NAV	1653329235,26.8,0,stop	INTERNAL_PRESSURE	7.92994
NET	CACST,8,0,20220523175009.536002,06,32767,45,0124,0150,07,01,01,00,01,1,025,235,0,5,1,0,150,16.6,4.76,-100,-1.76,-01,-0.13,53,10000,5000,0,-1,00,00*71	_24V_AH	14.82,106.999
NET_PING	1653328212,25,1805.489990,16.600000,-1.403229	_10V_AH	14.81,0.000
FREEZE	1.82,14.221,-1.464,0,1,0	FG_AHR_24Vo	201.575
FINISH	1.8,1.019875	FG_AHR_10Vo	158.190
SM_CCo	3538.06,243.81,1.108,0,541.8,612.2,471.4,590.73	MEM0	60148,1,0,0
SM_GC	1.57,243.81,13.72,0.42,1.108,0.082,0.091,541.8,612.2,471.4,218.9,2774.9,0,0,0,12.00,15.64,15.68	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	942776,26,103632,82
IRIDIUM_FIX	4738.33,-12256.21,230522,161544	DATA_FILE_SIZE	12904,472
TCM_TEMP	13.07	CAP_FILE_SIZE	338907,0
SC_FREEKB	3878048	SDSIZE	3918848,3884992
PM_FREEKB_00	62194048	SDFILEDIR	257,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2003,15.76,248,2016.7,15.77
HUMID	48.69	IMPLIED_C_VBD	3115,25.739799,248,3032.5
TEMP	10.59	GPS	230522,181726,4736.779,-12256.490,1,1.1,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1320	12660.76	nil	0	0	0.00
Pitch_motor	29	265	116.48	nil	0	0	0.00
Roll_motor	49	270	197.00	nil	0	0	0.00
Iridium	174	191	495.33	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	35	15	7.92	nil	0	0	0.00
Core	2177	5	165.11	SciCon	3260	6	306.34
Fast	0	0	0.00	PMAR	3269	17	852.67
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1372	0	6.50
Compass	981	5	72.66
RAFOS	871	40	516.18
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
12.28	16386	-146.63	-1.30	0.00	538.8	604.2	473.4	214.9	2725.6	0.00	0.00	0	112.15	95.85	0.00	0.00	0.005	0.000	0.000	2807.75	2811.44	2804.06	215.25	2725.44	0	0	0	15.81	30.00	30.00
112.40	18727	-146.63	-1.30	80.00	2807.6	2812.4	2802.7	215.2	2725.4	3.22	-1.86	19	156.32	20.65	11.60	2.87	0.006	0.265	0.128	3546.62	3573.75	3519.50	1716.56	3912.50	0	0	0	15.25	15.71	15.77
354.70	1060	-146.63	-1.30	0.00	3548.6	3577.8	3519.4	1716.3	3911.1	21.00	-5.20	66	360.89	0.00	0.00	2.73	0.000	0.000	0.068	3549.31	3578.94	3519.69	1716.62	2723.94	0	0	0	30.00	30.00	15.89
544.71	32	-146.63	-1.30	0.00	3550.3	3579.6	3521.1	1716.0	2723.4	31.25	-5.78	104	549.18	0.00	0.00	0.00	0.000	0.000	0.000	3549.62	3579.12	3520.12	1717.00	2724.00	0	0	0	30.00	30.00	30.00
738.51	32	-146.63	-1.30	0.00	3550.1	3580.2	3519.9	1715.9	2722.9	43.69	-7.00	140	741.99	0.00	0.00	0.00	0.000	0.000	0.000	3550.03	3580.12	3519.94	1716.50	2722.38	0	0	0	30.00	30.00	30.00
932.13	32	-146.63	-1.30	0.00	3550.6	3580.4	3520.8	1716.6	2723.2	58.78	-7.71	168	933.65	0.00	0.00	0.00	0.000	0.000	0.000	3549.88	3579.25	3520.50	1716.94	2722.94	0	0	0	30.00	30.00	30.00
1122.10	260	-146.63	-1.30	80.00	3551.7	3582.5	3520.8	1716.8	2723.1	74.79	-8.33	187	1127.68	0.00	0.00	2.85	0.000	0.000	0.127	3552.25	3583.62	3520.88	1716.12	3911.00	0	0	0	30.00	30.00	15.94
1166.38	1028	-146.63	-1.30	0.00	3550.2	3579.7	3520.8	1715.8	3910.2	78.82	-9.08	196	1173.38	0.00	0.00	2.71	0.000	0.000	0.070	3550.56	3580.56	3520.56	1716.12	2723.69	0	0	0	30.00	30.00	15.97
1362.10	32	-146.63	-1.30	0.00	3551.0	3581.4	3520.6	1716.9	2723.6	94.74	-7.98	216	1371.99	0.00	0.00	0.00	0.000	0.000	0.000	3550.28	3581.25	3519.31	1716.12	2724.31	0	0	0	30.00	30.00	30.00
1562.13	260	-146.63	-1.30	80.00	3550.7	3580.4	3521.0	1715.8	2723.9	110.94	-8.50	236	1567.70	0.00	0.00	2.86	0.000	0.000	0.129	3551.44	3581.94	3520.94	1716.12	3909.38	0	0	0	30.00	30.00	15.97
1596.41	1028	-146.63	-1.30	0.00	3549.9	3579.7	3520.2	1715.9	3911.1	114.18	-8.98	243	1603.39	0.00	0.00	2.71	0.000	0.000	0.071	3551.50	3580.88	3522.12	1716.12	2723.81	0	0	0	30.00	30.00	16.01
1792.15	260	-146.63	-1.30	80.00	3551.2	3581.0	3521.4	1716.6	2724.8	131.76	-9.02	263	1797.72	0.00	0.00	2.88	0.000	0.000	0.130	3552.06	3581.06	3523.06	1716.19	3912.56	0	0	0	30.00	30.00	15.99
1826.43	1028	-146.63	-1.30	0.00	3551.2	3581.5	3520.9	1716.8	3912.3	135.23	-9.92	270	1833.43	0.00	0.00	2.71	0.000	0.000	0.072	3549.38	3579.44	3519.31	1715.88	2725.25	0	0	0	30.00	30.00	16.03
1992	end dive: TARGET_DEPTH_EXCEEDED
state	1992	begin apogee
1993.60	10243	0.00	-0.32	0.00	3550.4	3580.4	3520.4	1716.1	2575.5	150.49	-9.21	287	2107.74	106.25	1.55	0.06	1.321	0.139	0.271	2947.22	3013.06	2881.38	1956.50	2621.62	0	0	0	12.20	15.99	15.56
2114	end apogee: CONTROL_FINISHED_OK
state	2114	begin climb
2114.53	10759	146.63	1.30	-80.00	2947.3	3012.9	2881.7	1956.0	2622.1	152.75	0.00	298	2240.36	109.64	2.51	3.60	1.269	0.089	0.135	2349.00	2429.50	2268.50	2349.44	1188.56	0	0	0	11.91	15.60	15.35
2247.99	1028	146.63	1.30	0.00	2347.5	2426.9	2268.1	2349.1	1188.1	138.56	15.93	323	2255.21	0.00	0.00	3.36	0.000	0.000	0.063	2346.41	2426.69	2266.12	2349.38	2620.94	0	0	0	30.00	30.00	15.44
2443.68	16646	146.63	1.30	80.00	2343.2	2420.9	2265.5	2349.9	2621.1	107.21	15.99	343	2449.37	0.00	0.00	3.19	0.000	0.000	0.131	2344.62	2420.69	2268.56	2348.62	3911.69	0	0	0	30.00	30.00	15.66
2526.25	17414	146.63	1.30	0.00	2341.9	2418.2	2265.6	2349.6	3910.4	92.99	16.86	358	2538.85	0.00	0.00	3.10	0.000	0.000	0.071	2341.41	2419.31	2263.50	2349.62	2577.44	0	0	0	30.00	30.00	15.74
2722.14	16386	146.63	1.30	0.00	2341.7	2418.4	2265.0	2349.8	2577.7	63.38	14.63	378	2723.66	0.00	0.00	0.00	0.000	0.000	0.000	2337.81	2414.38	2261.25	2349.06	2578.50	0	0	0	30.00	30.00	30.00
2907.15	16646	146.63	1.30	80.00	2341.3	2417.9	2264.6	2349.4	2578.5	36.73	14.86	405	2913.66	0.00	0.00	3.23	0.000	0.000	0.124	2339.91	2417.31	2262.50	2349.81	3912.69	0	0	0	30.00	30.00	15.81
2967.54	17414	146.63	1.30	0.00	2339.5	2414.8	2264.2	2349.2	3912.9	26.75	16.33	417	2973.82	0.00	0.00	3.09	0.000	0.000	0.071	2342.22	2418.19	2266.25	2349.06	2578.75	0	0	0	30.00	30.00	15.86
3156.74	8486	191.35	1.35	80.00	2340.0	2415.4	2264.6	2350.4	2577.2	4.96	7.93	454	3200.07	34.12	0.00	3.25	1.113	0.000	0.123	2168.28	2254.25	2082.31	2349.31	3910.69	0	0	0	12.12	30.00	15.74
3203.56	11303	293.68	1.48	0.00	2166.2	2249.7	2082.7	2350.1	3910.6	3.13	5.26	463	3247.24	36.42	0.23	3.10	1.090	0.087	0.068	1977.03	2067.56	1886.50	2398.50	2576.31	0	0	0	12.10	15.77	15.78
3248	end climb: SURFACE_DEPTH_REACHED
state	3248	begin surface coast
3251	end surface coast: CONTROL_FINISHED_OK
state	3251	begin surface