Glider dive log

HoodCanal 24May22 * 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 19 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 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 75 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 158.6478 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.875998 FG_AHR_24V 203.35535 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 158.6478 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 203.35535 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.875998 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 75

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 19 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 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 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 240522,172247,4736.785,-12256.335,22,1.6,30,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,172842,4736.805,-12256.279,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 195.6,1742,-17.1,-9.697,-20.82,2278,0.124

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,-0.037022,-0.013530,-0.069686,1.110939,-0.022572,0.014801,-0.001459,1.216694,-970.713135,-1076.446655,-114.501228

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653417558,1.5,1,stop TEMP 11.17

MODEM_MSG CACST,8,1,20220524183432.812834,18,417,08,0157,0000,246,02,02,03,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*27 INTERNAL_PRESSURE 7.95386

NET CACST,8,0,20220524183014.226666,06,32767,45,0101,0150,07,00,00,00,00,1,045,121,0,5,6,0,150,10.9,6.61,-100,-3.61,-01,-0.85,67,10000,5000,0,5,00,00*58 _24V_AH 14.81,109.012

NET_PING 1653415812,28,427.520996,4.300000,0.435302 _10V_AH 14.79,0.000

FREEZE 1.54,14.581,-1.406,0,1,0 FG_AHR_24Vo 203.546

FINISH 1.5,1.019005 FG_AHR_10Vo 158.699

SM_CCo 4197.69,209.10,1.118,0,541.2,605.7,476.6,590.89 MEM0 60132,1,0,0

SM_GC 1.50,209.10,13.73,0.44,1.118,0.079,0.087,541.2,605.7,476.6,217.7,2773.2,0,0,0,11.90,15.69,15.73 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 942716,26,103692,82

IRIDIUM_FIX 4735.53,-12254.47,240522,172417 DATA_FILE_SIZE 16137,589

TCM_TEMP 14.07 CAP_FILE_SIZE 408250,0

SC_FREEKB 3878048 SDSIZE 3918848,3884736

PM_FREEKB_00 62160640 SDFILEDIR 264,3

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

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 2,1653413525,47.61200,-122.96660,125.087,184072.4 IMPLIED_C_PITCH 2007,15.73,272,2018.4,15.80

RAFOS_FIX 5100.969727,-12257.996094,240522,181832,2,510,2598.48 IMPLIED_C_VBD 3126,23.809418,272,3038.0

HUMID 48.76 GPS 240522,183957,4736.476,-12256.477,1,1.5,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1337 12798.60 nil 0 0 0.00

Pitch_motor 29 266 117.89 nil 0 0 0.00

Roll_motor 57 234 198.88 nil 0 0 0.00

Iridium 222 211 696.20 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 2572 5 194.83 SciCon 3962 6 382.47

Fast 0 0 0.00 PMAR 3966 17 1037.53

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1741 0 8.24

Compass 1202 5 88.95

RAFOS 1437 40 850.63

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

11.04 16386 -146.63 -1.26 0.00 538.0 598.4 477.6 217.8 2728.1 0.00 0.00 0 103.32 88.68 0.00 0.00 0.005 0.000 0.000 2649.47 2650.88 2648.06 217.81 2728.69 0 0 0 15.67 30.00 30.00

103.58 18727 -146.63 -1.26 80.00 2649.0 2650.8 2647.1 217.9 2728.4 3.25 -1.92 15 154.59 26.76 11.77 3.02 0.006 0.266 0.123 3548.12 3573.88 3522.38 1724.69 3911.12 0 0 0 15.83 15.69 15.76

162.95 1060 -146.63 -1.26 0.00 3546.5 3573.5 3519.6 1725.2 3911.4 7.81 -7.46 26 169.14 0.00 0.00 2.73 0.000 0.000 0.065 3547.09 3574.62 3519.56 1725.12 2724.88 0 0 0 30.00 30.00 15.80

353.82 292 -146.63 -1.26 80.00 3548.8 3576.9 3520.6 1725.1 2724.4 18.65 -5.57 64 359.32 0.00 0.00 3.04 0.000 0.000 0.120 3548.47 3576.69 3520.25 1725.50 3911.44 0 0 0 30.00 30.00 15.81

482.97 1060 -146.63 -1.26 0.00 3548.4 3576.2 3520.6 1725.1 3910.4 25.74 -4.73 90 489.18 0.00 0.00 2.73 0.000 0.000 0.064 3549.25 3578.50 3520.00 1724.56 2723.94 0 0 0 30.00 30.00 15.90

669.62 32 -146.63 -1.26 0.00 3549.5 3578.2 3520.8 1725.1 2723.8 35.35 -6.25 127 674.07 0.00 0.00 0.00 0.000 0.000 0.000 3549.16 3578.50 3519.81 1725.00 2723.56 0 0 0 30.00 30.00 30.00

854.65 292 -146.63 -1.26 80.00 3549.4 3578.3 3520.5 1725.4 2724.1 47.97 -6.94 164 860.98 0.00 0.00 3.01 0.000 0.000 0.121 3551.47 3579.75 3523.19 1725.81 3909.44 0 0 0 30.00 30.00 15.91

888.92 1060 -146.63 -1.26 0.00 3549.2 3578.5 3519.8 1725.2 3908.2 50.60 -7.32 171 895.86 0.00 0.00 2.75 0.000 0.000 0.066 3549.44 3578.88 3520.00 1725.00 2724.44 0 0 0 30.00 30.00 15.96

1084.68 548 -146.63 -1.26 -80.00 3550.0 3579.1 3520.9 1725.1 2723.8 64.30 -7.23 191 1090.45 0.00 0.00 3.50 0.000 0.000 0.125 3548.12 3577.19 3519.06 1725.31 1280.62 0 0 0 30.00 30.00 15.95

1128.91 1028 -146.63 -1.26 0.00 3550.0 3579.4 3520.6 1725.2 1280.9 68.20 -8.86 200 1136.23 0.00 0.00 3.51 0.000 0.000 0.063 3540.41 3559.19 3521.62 1724.06 2767.56 0 0 0 30.00 30.00 15.99

1321.69 292 -146.63 -1.26 80.00 3549.5 3578.3 3520.6 1725.5 2767.3 82.62 -7.55 220 1327.21 0.00 0.00 2.87 0.000 0.000 0.122 3550.34 3580.12 3520.56 1725.12 3909.88 0 0 0 30.00 30.00 15.96

1381.67 1028 -146.63 -1.26 0.00 3550.0 3579.2 3520.8 1724.9 3911.1 87.78 -8.69 232 1387.17 0.00 0.00 2.73 0.000 0.000 0.066 3550.88 3579.88 3521.88 1724.94 2725.00 0 0 0 30.00 30.00 16.00

1571.67 0 -146.63 -1.26 0.00 3550.7 3579.9 3521.4 1725.1 2724.9 103.18 -8.38 252 1573.19 0.00 0.00 0.00 0.000 0.000 0.000 3549.00 3577.88 3520.12 1725.00 2725.62 0 0 0 30.00 30.00 30.00

1761.68 0 -146.63 -1.26 0.00 3549.9 3579.5 3520.2 1725.7 2724.5 118.72 -8.14 271 1763.20 0.00 0.00 0.00 0.000 0.000 0.000 3548.81 3578.19 3519.44 1725.06 2724.56 0 0 0 30.00 30.00 30.00

1945.04 0 -146.63 -1.26 0.00 3550.7 3579.0 3522.3 1725.4 2724.8 135.07 -8.82 289 1946.56 0.00 0.00 0.00 0.000 0.000 0.000 3549.50 3577.00 3522.00 1725.62 2724.31 0 0 0 30.00 30.00 30.00

2135.05 0 -146.63 -1.26 0.00 3550.4 3580.4 3520.4 1725.0 2724.1 151.61 -8.63 308 2136.57 0.00 0.00 0.00 0.000 0.000 0.000 3549.56 3579.38 3519.75 1724.75 2725.75 0 0 0 30.00 30.00 30.00

2235 end dive: TARGET_DEPTH_EXCEEDED

state 2235 begin apogee

2236.57 10243 0.00 -0.31 0.00 3549.3 3578.6 3520.1 1725.2 2576.2 160.46 -8.82 318 2351.35 106.93 1.54 0.08 1.337 0.139 0.234 2948.66 3014.75 2882.56 1955.12 2625.75 0 0 0 11.93 15.96 15.53

2354 end apogee: CONTROL_FINISHED_OK

state 2355 begin climb

2355.22 10759 146.63 1.26 -80.00 2947.2 3013.4 2880.9 1955.9 2625.1 162.84 0.00 329 2490.94 110.82 2.53 3.68 1.277 0.092 0.132 2350.62 2433.81 2267.44 2339.94 1188.12 0 0 0 11.89 15.56 15.31

2493.96 1028 146.63 1.26 0.00 2347.1 2427.2 2267.0 2339.8 1188.3 148.12 14.74 351 2501.22 0.00 0.00 3.47 0.000 0.000 0.060 2346.28 2425.44 2267.12 2340.38 2619.06 0 0 0 30.00 30.00 15.44

2689.36 16646 146.63 1.26 80.00 2343.1 2421.4 2264.8 2339.8 2619.1 116.95 15.66 371 2695.32 0.00 0.00 3.33 0.000 0.000 0.126 2340.47 2418.88 2262.06 2339.06 3910.56 0 0 0 30.00 30.00 15.66

2769.40 17414 146.63 1.26 0.00 2342.3 2419.6 2265.1 2340.4 3910.9 103.13 17.08 387 2775.25 0.00 0.00 3.13 0.000 0.000 0.070 2342.72 2420.19 2265.25 2340.50 2576.50 0 0 0 30.00 30.00 15.74

2959.42 16646 146.63 1.26 80.00 2340.1 2416.9 2263.3 2340.0 2577.1 74.46 14.50 407 2965.36 0.00 0.00 3.36 0.000 0.000 0.121 2339.25 2415.88 2262.62 2340.44 3909.00 0 0 0 30.00 30.00 15.78

2993.68 17414 146.63 1.26 0.00 2340.8 2416.9 2264.8 2339.8 3910.1 68.96 15.96 414 3001.00 0.00 0.00 3.12 0.000 0.000 0.070 2341.41 2418.00 2264.81 2340.12 2576.94 0 0 0 30.00 30.00 15.84

3182.46 16386 146.63 1.26 0.00 2341.5 2417.6 2265.3 2340.3 2578.0 42.16 14.04 439 3187.02 0.00 0.00 0.00 0.000 0.000 0.000 2338.44 2414.75 2262.12 2339.88 2577.50 0 0 0 30.00 30.00 30.00

3367.51 16646 146.63 1.26 80.00 2339.3 2415.7 2262.9 2340.0 2576.9 17.40 13.45 476 3374.21 0.00 0.00 3.35 0.000 0.000 0.121 2339.31 2416.06 2262.56 2340.38 3909.50 0 0 0 30.00 30.00 15.88

3462.66 17414 146.63 1.26 0.00 2338.9 2414.0 2263.8 2340.2 3910.8 6.83 10.79 495 3469.15 0.00 0.00 3.08 0.000 0.000 0.069 2340.53 2414.12 2266.94 2339.81 2576.88 0 0 0 30.00 30.00 15.93

3651.75 10791 353.12 1.51 -80.00 2338.2 2414.6 2261.7 2339.9 2577.2 3.73 0.42 530 3760.92 103.91 0.34 0.00 1.139 0.071 0.000 1771.62 1865.75 1677.50 2408.19 2577.38 0 0 0 12.06 15.92 30.00

3761 end climb: SURFACE_DEPTH_REACHED

state 3761 begin surface coast

3950 end surface coast: CONTROL_FINISHED_OK

state 3950 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	19	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	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	75	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	158.6478	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.875998	FG_AHR_24V	203.35535	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	240522,172247,4736.785,-12256.335,22,1.6,30,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,172842,4736.805,-12256.279,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	195.6,1742,-17.1,-9.697,-20.82,2278,0.124
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.037022,-0.013530,-0.069686,1.110939,-0.022572,0.014801,-0.001459,1.216694,-970.713135,-1076.446655,-114.501228
TGT_LATLONG	4736.000,-12257.000

NAV	1653417558,1.5,1,stop	TEMP	11.17
MODEM_MSG	CACST,8,1,20220524183432.812834,18,417,08,0157,0000,246,02,02,03,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*27	INTERNAL_PRESSURE	7.95386
NET	CACST,8,0,20220524183014.226666,06,32767,45,0101,0150,07,00,00,00,00,1,045,121,0,5,6,0,150,10.9,6.61,-100,-3.61,-01,-0.85,67,10000,5000,0,5,00,00*58	_24V_AH	14.81,109.012
NET_PING	1653415812,28,427.520996,4.300000,0.435302	_10V_AH	14.79,0.000
FREEZE	1.54,14.581,-1.406,0,1,0	FG_AHR_24Vo	203.546
FINISH	1.5,1.019005	FG_AHR_10Vo	158.699
SM_CCo	4197.69,209.10,1.118,0,541.2,605.7,476.6,590.89	MEM0	60132,1,0,0
SM_GC	1.50,209.10,13.73,0.44,1.118,0.079,0.087,541.2,605.7,476.6,217.7,2773.2,0,0,0,11.90,15.69,15.73	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	942716,26,103692,82
IRIDIUM_FIX	4735.53,-12254.47,240522,172417	DATA_FILE_SIZE	16137,589
TCM_TEMP	14.07	CAP_FILE_SIZE	408250,0
SC_FREEKB	3878048	SDSIZE	3918848,3884736
PM_FREEKB_00	62160640	SDFILEDIR	264,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	2,1653413525,47.61200,-122.96660,125.087,184072.4	IMPLIED_C_PITCH	2007,15.73,272,2018.4,15.80
RAFOS_FIX	5100.969727,-12257.996094,240522,181832,2,510,2598.48	IMPLIED_C_VBD	3126,23.809418,272,3038.0
HUMID	48.76	GPS	240522,183957,4736.476,-12256.477,1,1.5,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1337	12798.60	nil	0	0	0.00
Pitch_motor	29	266	117.89	nil	0	0	0.00
Roll_motor	57	234	198.88	nil	0	0	0.00
Iridium	222	211	696.20	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	2572	5	194.83	SciCon	3962	6	382.47
Fast	0	0	0.00	PMAR	3966	17	1037.53
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1741	0	8.24
Compass	1202	5	88.95
RAFOS	1437	40	850.63
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
11.04	16386	-146.63	-1.26	0.00	538.0	598.4	477.6	217.8	2728.1	0.00	0.00	0	103.32	88.68	0.00	0.00	0.005	0.000	0.000	2649.47	2650.88	2648.06	217.81	2728.69	0	0	0	15.67	30.00	30.00
103.58	18727	-146.63	-1.26	80.00	2649.0	2650.8	2647.1	217.9	2728.4	3.25	-1.92	15	154.59	26.76	11.77	3.02	0.006	0.266	0.123	3548.12	3573.88	3522.38	1724.69	3911.12	0	0	0	15.83	15.69	15.76
162.95	1060	-146.63	-1.26	0.00	3546.5	3573.5	3519.6	1725.2	3911.4	7.81	-7.46	26	169.14	0.00	0.00	2.73	0.000	0.000	0.065	3547.09	3574.62	3519.56	1725.12	2724.88	0	0	0	30.00	30.00	15.80
353.82	292	-146.63	-1.26	80.00	3548.8	3576.9	3520.6	1725.1	2724.4	18.65	-5.57	64	359.32	0.00	0.00	3.04	0.000	0.000	0.120	3548.47	3576.69	3520.25	1725.50	3911.44	0	0	0	30.00	30.00	15.81
482.97	1060	-146.63	-1.26	0.00	3548.4	3576.2	3520.6	1725.1	3910.4	25.74	-4.73	90	489.18	0.00	0.00	2.73	0.000	0.000	0.064	3549.25	3578.50	3520.00	1724.56	2723.94	0	0	0	30.00	30.00	15.90
669.62	32	-146.63	-1.26	0.00	3549.5	3578.2	3520.8	1725.1	2723.8	35.35	-6.25	127	674.07	0.00	0.00	0.00	0.000	0.000	0.000	3549.16	3578.50	3519.81	1725.00	2723.56	0	0	0	30.00	30.00	30.00
854.65	292	-146.63	-1.26	80.00	3549.4	3578.3	3520.5	1725.4	2724.1	47.97	-6.94	164	860.98	0.00	0.00	3.01	0.000	0.000	0.121	3551.47	3579.75	3523.19	1725.81	3909.44	0	0	0	30.00	30.00	15.91
888.92	1060	-146.63	-1.26	0.00	3549.2	3578.5	3519.8	1725.2	3908.2	50.60	-7.32	171	895.86	0.00	0.00	2.75	0.000	0.000	0.066	3549.44	3578.88	3520.00	1725.00	2724.44	0	0	0	30.00	30.00	15.96
1084.68	548	-146.63	-1.26	-80.00	3550.0	3579.1	3520.9	1725.1	2723.8	64.30	-7.23	191	1090.45	0.00	0.00	3.50	0.000	0.000	0.125	3548.12	3577.19	3519.06	1725.31	1280.62	0	0	0	30.00	30.00	15.95
1128.91	1028	-146.63	-1.26	0.00	3550.0	3579.4	3520.6	1725.2	1280.9	68.20	-8.86	200	1136.23	0.00	0.00	3.51	0.000	0.000	0.063	3540.41	3559.19	3521.62	1724.06	2767.56	0	0	0	30.00	30.00	15.99
1321.69	292	-146.63	-1.26	80.00	3549.5	3578.3	3520.6	1725.5	2767.3	82.62	-7.55	220	1327.21	0.00	0.00	2.87	0.000	0.000	0.122	3550.34	3580.12	3520.56	1725.12	3909.88	0	0	0	30.00	30.00	15.96
1381.67	1028	-146.63	-1.26	0.00	3550.0	3579.2	3520.8	1724.9	3911.1	87.78	-8.69	232	1387.17	0.00	0.00	2.73	0.000	0.000	0.066	3550.88	3579.88	3521.88	1724.94	2725.00	0	0	0	30.00	30.00	16.00
1571.67	0	-146.63	-1.26	0.00	3550.7	3579.9	3521.4	1725.1	2724.9	103.18	-8.38	252	1573.19	0.00	0.00	0.00	0.000	0.000	0.000	3549.00	3577.88	3520.12	1725.00	2725.62	0	0	0	30.00	30.00	30.00
1761.68	0	-146.63	-1.26	0.00	3549.9	3579.5	3520.2	1725.7	2724.5	118.72	-8.14	271	1763.20	0.00	0.00	0.00	0.000	0.000	0.000	3548.81	3578.19	3519.44	1725.06	2724.56	0	0	0	30.00	30.00	30.00
1945.04	0	-146.63	-1.26	0.00	3550.7	3579.0	3522.3	1725.4	2724.8	135.07	-8.82	289	1946.56	0.00	0.00	0.00	0.000	0.000	0.000	3549.50	3577.00	3522.00	1725.62	2724.31	0	0	0	30.00	30.00	30.00
2135.05	0	-146.63	-1.26	0.00	3550.4	3580.4	3520.4	1725.0	2724.1	151.61	-8.63	308	2136.57	0.00	0.00	0.00	0.000	0.000	0.000	3549.56	3579.38	3519.75	1724.75	2725.75	0	0	0	30.00	30.00	30.00
2235	end dive: TARGET_DEPTH_EXCEEDED
state	2235	begin apogee
2236.57	10243	0.00	-0.31	0.00	3549.3	3578.6	3520.1	1725.2	2576.2	160.46	-8.82	318	2351.35	106.93	1.54	0.08	1.337	0.139	0.234	2948.66	3014.75	2882.56	1955.12	2625.75	0	0	0	11.93	15.96	15.53
2354	end apogee: CONTROL_FINISHED_OK
state	2355	begin climb
2355.22	10759	146.63	1.26	-80.00	2947.2	3013.4	2880.9	1955.9	2625.1	162.84	0.00	329	2490.94	110.82	2.53	3.68	1.277	0.092	0.132	2350.62	2433.81	2267.44	2339.94	1188.12	0	0	0	11.89	15.56	15.31
2493.96	1028	146.63	1.26	0.00	2347.1	2427.2	2267.0	2339.8	1188.3	148.12	14.74	351	2501.22	0.00	0.00	3.47	0.000	0.000	0.060	2346.28	2425.44	2267.12	2340.38	2619.06	0	0	0	30.00	30.00	15.44
2689.36	16646	146.63	1.26	80.00	2343.1	2421.4	2264.8	2339.8	2619.1	116.95	15.66	371	2695.32	0.00	0.00	3.33	0.000	0.000	0.126	2340.47	2418.88	2262.06	2339.06	3910.56	0	0	0	30.00	30.00	15.66
2769.40	17414	146.63	1.26	0.00	2342.3	2419.6	2265.1	2340.4	3910.9	103.13	17.08	387	2775.25	0.00	0.00	3.13	0.000	0.000	0.070	2342.72	2420.19	2265.25	2340.50	2576.50	0	0	0	30.00	30.00	15.74
2959.42	16646	146.63	1.26	80.00	2340.1	2416.9	2263.3	2340.0	2577.1	74.46	14.50	407	2965.36	0.00	0.00	3.36	0.000	0.000	0.121	2339.25	2415.88	2262.62	2340.44	3909.00	0	0	0	30.00	30.00	15.78
2993.68	17414	146.63	1.26	0.00	2340.8	2416.9	2264.8	2339.8	3910.1	68.96	15.96	414	3001.00	0.00	0.00	3.12	0.000	0.000	0.070	2341.41	2418.00	2264.81	2340.12	2576.94	0	0	0	30.00	30.00	15.84
3182.46	16386	146.63	1.26	0.00	2341.5	2417.6	2265.3	2340.3	2578.0	42.16	14.04	439	3187.02	0.00	0.00	0.00	0.000	0.000	0.000	2338.44	2414.75	2262.12	2339.88	2577.50	0	0	0	30.00	30.00	30.00
3367.51	16646	146.63	1.26	80.00	2339.3	2415.7	2262.9	2340.0	2576.9	17.40	13.45	476	3374.21	0.00	0.00	3.35	0.000	0.000	0.121	2339.31	2416.06	2262.56	2340.38	3909.50	0	0	0	30.00	30.00	15.88
3462.66	17414	146.63	1.26	0.00	2338.9	2414.0	2263.8	2340.2	3910.8	6.83	10.79	495	3469.15	0.00	0.00	3.08	0.000	0.000	0.069	2340.53	2414.12	2266.94	2339.81	2576.88	0	0	0	30.00	30.00	15.93
3651.75	10791	353.12	1.51	-80.00	2338.2	2414.6	2261.7	2339.9	2577.2	3.73	0.42	530	3760.92	103.91	0.34	0.00	1.139	0.071	0.000	1771.62	1865.75	1677.50	2408.19	2577.38	0	0	0	12.06	15.92	30.00
3761	end climb: SURFACE_DEPTH_REACHED
state	3761	begin surface coast
3950	end surface coast: CONTROL_FINISHED_OK
state	3950	begin surface