Glider dive log

HoodCanal 21May22.01 * SG235 * Dive index * Mission links * Dive 3 * 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 16 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 3 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 3 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 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 165 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 55 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 2 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 157.44504 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 16.015106 FG_AHR_24V 198.38463 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 -158.48517 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 157.44504 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 198.38463 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 16.015106 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 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 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 -158.48517 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 2 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 16 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 3 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 165 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 3 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 210522,230322,4736.585,-12256.596,1,1.2,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,230728,4736.558,-12256.614,2,1.2,5,15.5 MHEAD_RNG_PITCHd_Wd 2.6,861,-17.1,-9.697,-20.82,2278,0.148

SPEED_LIMITS 0.168,0.255 D_GRID 169

TGT_NAME N IRON 1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,1,20220522000025.574425,06,529,21,0093,0150,194,02,02,01,02,-1,-01,-01,1,3,10619,0,150,11.3,0.59,-100,2.41,-01,-0.53,59,10000,5000,0,-1,00,00*4C INTERNAL_PRESSURE 7.91265

NAV 1653177544,12.7,start _24V_AH 14.75,104.210

NET_PING 1653175213,25,1791.938965,1.800000,0.613324 _10V_AH 14.72,0.000

FREEZE 1.69,13.268,-1.485,0,1,0 FG_AHR_24Vo 198.576

FINISH 1.7,1.020352 FG_AHR_10Vo 157.486

SM_CCo 3562.72,308.12,1.138,0,541.2,614.8,467.5,590.89 MEM0 60148,1,0,0

SM_GC 1.71,308.12,13.10,0.41,1.138,0.081,0.097,541.2,614.8,467.5,216.4,2776.6,0,0,0,12.04,15.88,15.91 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 942956,28,103432,81

IRIDIUM_FIX 4736.87,-12256.21,210522,215743 DATA_FILE_SIZE 12917,463

TCM_TEMP 12.94 CAP_FILE_SIZE 338387,0

SC_FREEKB 3877728 SDSIZE 3918848,3884896

PM_FREEKB_00 62106496 SDFILEDIR 259,3

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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 1999,15.93,253,2014.4,15.97

HUMID 48.81 IMPLIED_C_VBD 3020,17.375429,253,2985.0

TEMP 10.25 GPS 220522,000831,4736.844,-12256.524,29,1.1,30,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1357 12980.17 nil 0 0 0.00

Pitch_motor 29 279 119.47 nil 0 0 0.00

Roll_motor 56 252 211.74 nil 0 0 0.00

Iridium 155 191 440.52 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 1979 5 149.22 SciCon 3217 6 325.84

Fast 0 0 0.00 PMAR 3228 17 836.95

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1486 0 7.00

Compass 933 5 68.73

RAFOS 1010 40 594.96

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

10.93 16386 -146.63 -1.25 0.00 539.4 614.6 464.2 212.9 2728.6 0.00 0.00 0 130.19 114.72 0.00 0.00 0.005 0.000 0.000 3144.88 3151.38 3138.38 213.00 2728.88 0 0 0 15.10 30.00 30.00

130.44 18727 -146.63 -1.25 80.00 3144.9 3152.2 3137.6 212.9 2728.9 3.11 -1.64 22 166.04 10.86 11.88 2.87 0.007 0.279 0.134 3546.25 3575.25 3517.25 1727.88 3910.44 0 0 0 15.79 15.60 15.70

204.35 1028 -146.63 -1.25 0.00 3547.3 3576.1 3518.6 1727.5 3910.9 12.98 -12.12 36 210.61 0.00 0.00 2.72 0.000 0.000 0.070 3548.34 3577.62 3519.06 1727.62 2724.69 0 0 0 30.00 30.00 15.75

394.44 548 -146.63 -1.25 -80.00 3549.1 3579.5 3518.6 1727.9 2724.5 29.51 -7.51 74 400.93 0.00 0.00 3.47 0.000 0.000 0.127 3549.56 3580.56 3518.56 1727.75 1280.50 0 0 0 30.00 30.00 15.78

484.38 1028 -146.63 -1.25 0.00 3549.4 3579.2 3519.6 1727.1 1281.0 38.19 -10.07 92 490.90 0.00 0.00 3.38 0.000 0.000 0.069 3549.38 3579.31 3519.44 1728.19 2768.31 0 0 0 30.00 30.00 15.82

674.41 516 -146.63 -1.25 -80.00 3550.0 3580.8 3519.2 1727.6 2768.2 53.66 -8.18 126 680.32 0.00 0.00 3.57 0.000 0.000 0.123 3549.19 3579.69 3518.69 1727.50 1279.62 0 0 0 30.00 30.00 15.82

714.41 1028 -146.63 -1.25 0.00 3549.6 3579.6 3519.6 1727.1 1279.6 57.51 -9.64 134 725.18 0.00 0.00 3.37 0.000 0.000 0.069 3550.75 3581.69 3519.81 1727.88 2770.75 0 0 0 30.00 30.00 15.85

908.46 260 -146.63 -1.25 80.00 3549.9 3579.4 3520.5 1727.5 2770.1 73.34 -8.45 154 913.99 0.00 0.00 2.73 0.000 0.000 0.131 3550.50 3579.94 3521.06 1727.31 3911.38 0 0 0 30.00 30.00 15.87

1028.48 1028 -146.63 -1.25 0.00 3548.8 3579.6 3518.1 1728.2 3911.3 84.63 -9.37 178 1033.96 0.00 0.00 2.68 0.000 0.000 0.070 3550.25 3580.38 3520.12 1727.94 2723.69 0 0 0 30.00 30.00 15.92

1218.51 0 -146.63 -1.25 0.00 3550.3 3580.6 3520.0 1727.1 2724.6 100.66 -8.44 198 1220.02 0.00 0.00 0.00 0.000 0.000 0.000 3548.72 3578.75 3518.69 1727.69 2724.50 0 0 0 30.00 30.00 30.00

1408.49 260 -146.63 -1.25 80.00 3549.4 3579.8 3519.1 1727.6 2724.9 117.33 -8.91 217 1414.22 0.00 0.00 2.84 0.000 0.000 0.128 3552.38 3583.50 3521.25 1726.94 3911.56 0 0 0 30.00 30.00 15.93

1448.50 1028 -146.63 -1.25 0.00 3549.9 3581.3 3518.4 1728.2 3912.0 121.34 -10.08 225 1453.98 0.00 0.00 2.68 0.000 0.000 0.072 3550.62 3580.88 3520.38 1727.06 2725.44 0 0 0 30.00 30.00 15.97

1638.51 0 -146.63 -1.25 0.00 3550.2 3580.8 3519.7 1727.4 2726.6 139.31 -9.33 245 1640.04 0.00 0.00 0.00 0.000 0.000 0.000 3549.16 3578.88 3519.44 1726.88 2726.06 0 0 0 30.00 30.00 30.00

1828.59 0 -146.63 -1.25 0.00 3549.4 3580.1 3518.6 1727.8 2725.6 157.60 -9.54 264 1830.15 0.00 0.00 0.00 0.000 0.000 0.000 3549.34 3580.38 3518.31 1727.38 2726.19 0 0 0 30.00 30.00 30.00

1859 end dive: TARGET_DEPTH_EXCEEDED

state 1859 begin apogee

1860.04 10243 0.00 -0.31 0.00 3549.9 3580.2 3519.6 1727.0 2573.9 160.38 -9.39 267 1973.84 105.54 1.52 0.08 1.357 0.146 0.253 2950.16 3012.75 2887.56 1955.69 2625.56 0 0 0 12.05 15.95 15.52

1979 end apogee: CONTROL_FINISHED_OK

state 1979 begin climb

1979.70 10759 146.63 1.25 -80.00 2947.1 3010.2 2883.9 1955.8 2625.2 162.73 0.00 278 2106.76 109.24 2.51 3.61 1.308 0.095 0.135 2351.16 2430.06 2272.25 2336.62 1188.50 0 0 0 11.88 15.55 15.30

2114.43 1028 146.63 1.25 0.00 2348.1 2425.9 2270.2 2337.9 1188.9 149.12 15.49 303 2121.85 0.00 0.00 3.31 0.000 0.000 0.064 2329.50 2387.81 2271.19 2336.62 2622.62 0 0 0 30.00 30.00 15.41

2310.18 16646 146.63 1.25 80.00 2344.0 2419.6 2268.4 2336.9 2622.4 118.79 15.33 323 2316.07 0.00 0.00 3.15 0.000 0.000 0.133 2342.00 2418.50 2265.50 2336.38 3908.94 0 0 0 30.00 30.00 15.64

2350.19 17414 146.63 1.25 0.00 2343.9 2419.5 2268.3 2337.0 3908.4 112.45 16.01 331 2356.01 0.00 0.00 3.06 0.000 0.000 0.072 2342.19 2417.00 2267.38 2337.75 2579.19 0 0 0 30.00 30.00 15.70

2540.23 16646 146.63 1.25 80.00 2342.8 2417.8 2267.8 2337.2 2578.8 83.98 14.86 351 2546.11 0.00 0.00 3.22 0.000 0.000 0.127 2344.09 2420.94 2267.25 2338.00 3911.12 0 0 0 30.00 30.00 15.76

2574.49 17414 146.63 1.25 0.00 2341.5 2416.9 2266.2 2339.8 3910.6 78.53 15.73 358 2581.80 0.00 0.00 3.06 0.000 0.000 0.072 2342.38 2418.69 2266.06 2337.56 2578.94 0 0 0 30.00 30.00 15.81

2770.25 16646 146.63 1.25 80.00 2341.9 2416.5 2267.4 2337.5 2579.8 51.19 14.14 378 2776.10 0.00 0.00 3.19 0.000 0.000 0.127 2343.75 2418.44 2269.06 2337.12 3910.00 0 0 0 30.00 30.00 15.83

2820.25 17414 146.63 1.25 0.00 2341.4 2414.2 2268.5 2337.2 3911.5 43.67 14.90 388 2826.83 0.00 0.00 3.05 0.000 0.000 0.072 2341.75 2414.94 2268.56 2338.25 2577.19 0 0 0 30.00 30.00 15.87

3010.31 16386 146.63 1.25 0.00 2341.6 2415.6 2267.6 2337.0 2578.4 18.07 12.36 426 3014.85 0.00 0.00 0.00 0.000 0.000 0.000 2340.78 2413.62 2267.94 2337.69 2578.56 0 0 0 30.00 30.00 30.00

3180 end climb: SURFACE_DEPTH_REACHED

state 3180 begin surface coast

3210 end surface coast: CONTROL_FINISHED_OK

state 3210 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	16	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	3	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	3	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	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	165	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	55	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	2	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	157.44504	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	16.015106	FG_AHR_24V	198.38463	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	-158.48517	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	210522,230322,4736.585,-12256.596,1,1.2,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,230728,4736.558,-12256.614,2,1.2,5,15.5	MHEAD_RNG_PITCHd_Wd	2.6,861,-17.1,-9.697,-20.82,2278,0.148
SPEED_LIMITS	0.168,0.255	D_GRID	169
TGT_NAME	N	IRON	1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
TGT_LATLONG	4737.000,-12256.400

NET	CACST,8,1,20220522000025.574425,06,529,21,0093,0150,194,02,02,01,02,-1,-01,-01,1,3,10619,0,150,11.3,0.59,-100,2.41,-01,-0.53,59,10000,5000,0,-1,00,00*4C	INTERNAL_PRESSURE	7.91265
NAV	1653177544,12.7,start	_24V_AH	14.75,104.210
NET_PING	1653175213,25,1791.938965,1.800000,0.613324	_10V_AH	14.72,0.000
FREEZE	1.69,13.268,-1.485,0,1,0	FG_AHR_24Vo	198.576
FINISH	1.7,1.020352	FG_AHR_10Vo	157.486
SM_CCo	3562.72,308.12,1.138,0,541.2,614.8,467.5,590.89	MEM0	60148,1,0,0
SM_GC	1.71,308.12,13.10,0.41,1.138,0.081,0.097,541.2,614.8,467.5,216.4,2776.6,0,0,0,12.04,15.88,15.91	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	942956,28,103432,81
IRIDIUM_FIX	4736.87,-12256.21,210522,215743	DATA_FILE_SIZE	12917,463
TCM_TEMP	12.94	CAP_FILE_SIZE	338387,0
SC_FREEKB	3877728	SDSIZE	3918848,3884896
PM_FREEKB_00	62106496	SDFILEDIR	259,3
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
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	1999,15.93,253,2014.4,15.97
HUMID	48.81	IMPLIED_C_VBD	3020,17.375429,253,2985.0
TEMP	10.25	GPS	220522,000831,4736.844,-12256.524,29,1.1,30,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1357	12980.17	nil	0	0	0.00
Pitch_motor	29	279	119.47	nil	0	0	0.00
Roll_motor	56	252	211.74	nil	0	0	0.00
Iridium	155	191	440.52	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	1979	5	149.22	SciCon	3217	6	325.84
Fast	0	0	0.00	PMAR	3228	17	836.95
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1486	0	7.00
Compass	933	5	68.73
RAFOS	1010	40	594.96
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
10.93	16386	-146.63	-1.25	0.00	539.4	614.6	464.2	212.9	2728.6	0.00	0.00	0	130.19	114.72	0.00	0.00	0.005	0.000	0.000	3144.88	3151.38	3138.38	213.00	2728.88	0	0	0	15.10	30.00	30.00
130.44	18727	-146.63	-1.25	80.00	3144.9	3152.2	3137.6	212.9	2728.9	3.11	-1.64	22	166.04	10.86	11.88	2.87	0.007	0.279	0.134	3546.25	3575.25	3517.25	1727.88	3910.44	0	0	0	15.79	15.60	15.70
204.35	1028	-146.63	-1.25	0.00	3547.3	3576.1	3518.6	1727.5	3910.9	12.98	-12.12	36	210.61	0.00	0.00	2.72	0.000	0.000	0.070	3548.34	3577.62	3519.06	1727.62	2724.69	0	0	0	30.00	30.00	15.75
394.44	548	-146.63	-1.25	-80.00	3549.1	3579.5	3518.6	1727.9	2724.5	29.51	-7.51	74	400.93	0.00	0.00	3.47	0.000	0.000	0.127	3549.56	3580.56	3518.56	1727.75	1280.50	0	0	0	30.00	30.00	15.78
484.38	1028	-146.63	-1.25	0.00	3549.4	3579.2	3519.6	1727.1	1281.0	38.19	-10.07	92	490.90	0.00	0.00	3.38	0.000	0.000	0.069	3549.38	3579.31	3519.44	1728.19	2768.31	0	0	0	30.00	30.00	15.82
674.41	516	-146.63	-1.25	-80.00	3550.0	3580.8	3519.2	1727.6	2768.2	53.66	-8.18	126	680.32	0.00	0.00	3.57	0.000	0.000	0.123	3549.19	3579.69	3518.69	1727.50	1279.62	0	0	0	30.00	30.00	15.82
714.41	1028	-146.63	-1.25	0.00	3549.6	3579.6	3519.6	1727.1	1279.6	57.51	-9.64	134	725.18	0.00	0.00	3.37	0.000	0.000	0.069	3550.75	3581.69	3519.81	1727.88	2770.75	0	0	0	30.00	30.00	15.85
908.46	260	-146.63	-1.25	80.00	3549.9	3579.4	3520.5	1727.5	2770.1	73.34	-8.45	154	913.99	0.00	0.00	2.73	0.000	0.000	0.131	3550.50	3579.94	3521.06	1727.31	3911.38	0	0	0	30.00	30.00	15.87
1028.48	1028	-146.63	-1.25	0.00	3548.8	3579.6	3518.1	1728.2	3911.3	84.63	-9.37	178	1033.96	0.00	0.00	2.68	0.000	0.000	0.070	3550.25	3580.38	3520.12	1727.94	2723.69	0	0	0	30.00	30.00	15.92
1218.51	0	-146.63	-1.25	0.00	3550.3	3580.6	3520.0	1727.1	2724.6	100.66	-8.44	198	1220.02	0.00	0.00	0.00	0.000	0.000	0.000	3548.72	3578.75	3518.69	1727.69	2724.50	0	0	0	30.00	30.00	30.00
1408.49	260	-146.63	-1.25	80.00	3549.4	3579.8	3519.1	1727.6	2724.9	117.33	-8.91	217	1414.22	0.00	0.00	2.84	0.000	0.000	0.128	3552.38	3583.50	3521.25	1726.94	3911.56	0	0	0	30.00	30.00	15.93
1448.50	1028	-146.63	-1.25	0.00	3549.9	3581.3	3518.4	1728.2	3912.0	121.34	-10.08	225	1453.98	0.00	0.00	2.68	0.000	0.000	0.072	3550.62	3580.88	3520.38	1727.06	2725.44	0	0	0	30.00	30.00	15.97
1638.51	0	-146.63	-1.25	0.00	3550.2	3580.8	3519.7	1727.4	2726.6	139.31	-9.33	245	1640.04	0.00	0.00	0.00	0.000	0.000	0.000	3549.16	3578.88	3519.44	1726.88	2726.06	0	0	0	30.00	30.00	30.00
1828.59	0	-146.63	-1.25	0.00	3549.4	3580.1	3518.6	1727.8	2725.6	157.60	-9.54	264	1830.15	0.00	0.00	0.00	0.000	0.000	0.000	3549.34	3580.38	3518.31	1727.38	2726.19	0	0	0	30.00	30.00	30.00
1859	end dive: TARGET_DEPTH_EXCEEDED
state	1859	begin apogee
1860.04	10243	0.00	-0.31	0.00	3549.9	3580.2	3519.6	1727.0	2573.9	160.38	-9.39	267	1973.84	105.54	1.52	0.08	1.357	0.146	0.253	2950.16	3012.75	2887.56	1955.69	2625.56	0	0	0	12.05	15.95	15.52
1979	end apogee: CONTROL_FINISHED_OK
state	1979	begin climb
1979.70	10759	146.63	1.25	-80.00	2947.1	3010.2	2883.9	1955.8	2625.2	162.73	0.00	278	2106.76	109.24	2.51	3.61	1.308	0.095	0.135	2351.16	2430.06	2272.25	2336.62	1188.50	0	0	0	11.88	15.55	15.30
2114.43	1028	146.63	1.25	0.00	2348.1	2425.9	2270.2	2337.9	1188.9	149.12	15.49	303	2121.85	0.00	0.00	3.31	0.000	0.000	0.064	2329.50	2387.81	2271.19	2336.62	2622.62	0	0	0	30.00	30.00	15.41
2310.18	16646	146.63	1.25	80.00	2344.0	2419.6	2268.4	2336.9	2622.4	118.79	15.33	323	2316.07	0.00	0.00	3.15	0.000	0.000	0.133	2342.00	2418.50	2265.50	2336.38	3908.94	0	0	0	30.00	30.00	15.64
2350.19	17414	146.63	1.25	0.00	2343.9	2419.5	2268.3	2337.0	3908.4	112.45	16.01	331	2356.01	0.00	0.00	3.06	0.000	0.000	0.072	2342.19	2417.00	2267.38	2337.75	2579.19	0	0	0	30.00	30.00	15.70
2540.23	16646	146.63	1.25	80.00	2342.8	2417.8	2267.8	2337.2	2578.8	83.98	14.86	351	2546.11	0.00	0.00	3.22	0.000	0.000	0.127	2344.09	2420.94	2267.25	2338.00	3911.12	0	0	0	30.00	30.00	15.76
2574.49	17414	146.63	1.25	0.00	2341.5	2416.9	2266.2	2339.8	3910.6	78.53	15.73	358	2581.80	0.00	0.00	3.06	0.000	0.000	0.072	2342.38	2418.69	2266.06	2337.56	2578.94	0	0	0	30.00	30.00	15.81
2770.25	16646	146.63	1.25	80.00	2341.9	2416.5	2267.4	2337.5	2579.8	51.19	14.14	378	2776.10	0.00	0.00	3.19	0.000	0.000	0.127	2343.75	2418.44	2269.06	2337.12	3910.00	0	0	0	30.00	30.00	15.83
2820.25	17414	146.63	1.25	0.00	2341.4	2414.2	2268.5	2337.2	3911.5	43.67	14.90	388	2826.83	0.00	0.00	3.05	0.000	0.000	0.072	2341.75	2414.94	2268.56	2338.25	2577.19	0	0	0	30.00	30.00	15.87
3010.31	16386	146.63	1.25	0.00	2341.6	2415.6	2267.6	2337.0	2578.4	18.07	12.36	426	3014.85	0.00	0.00	0.00	0.000	0.000	0.000	2340.78	2413.62	2267.94	2337.69	2578.56	0	0	0	30.00	30.00	30.00
3180	end climb: SURFACE_DEPTH_REACHED
state	3180	begin surface coast
3210	end surface coast: CONTROL_FINISHED_OK
state	3210	begin surface