Glider dive log

HoodCanal 24May22 * 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 19 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 2950.3235 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 2018.385 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 158.7003 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.765305 FG_AHR_24V 203.55983 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 158.7003 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 203.55983 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.765305 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 2018.385 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 2950.3235 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 3 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 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 240522,184431,4736.496,-12256.432,2,1.0,28,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,184849,4736.515,-12256.388,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 203.2,1223,-17.1,-9.697,-20.82,2278,0.125

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:

NET CACST,8,1,20220524193014.742896,06,32767,45,0120,0150,07,01,01,00,01,1,045,121,3,5,7,0,150,17.4,4.04,-100,-1.04,-01,-0.12,54,10000,5000,0,5,01,01*5A INTERNAL_PRESSURE 7.94199

NAV 1653420918,93.9,0,stop _24V_AH 14.81,109.247

MODEM_MSG CACST,8,0,20220524190401.454626,18,31310,38,0288,0000,246,02,02,01,02,1,025,121,0,5,1,0,150,-0.9,3.00,-100,0.00,-01,-0.51,74,925,0025,0,1,00,00*31 _10V_AH 14.80,0.000

NET_PING 1653419411,28,476.049011,11.800000,0.372863 FG_AHR_24Vo 203.751

FREEZE 1.15,14.809,-1.407,0,1,0 FG_AHR_10Vo 158.744

FINISH 1.2,1.018975 MEM0 60132,1,0,0

SM_CCo 4081.07,176.76,1.112,0,541.3,606.3,476.4,590.84 MEM1 65508,1,0,0

SM_GC 1.50,176.76,13.77,0.44,1.112,0.074,0.085,541.3,606.3,476.4,216.5,2773.2,0,0,0,11.85,15.55,15.58 MEM2 942748,25,103680,82

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16145,572

IRIDIUM_FIX 4737.46,-12258.89,240522,184139 CAP_FILE_SIZE 401517,0

TCM_TEMP 13.73 SDSIZE 3918848,3884288

SC_FREEKB 3877728 SDFILEDIR 276,3

PM_FREEKB_00 62069760 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1403.3

RAFOS_CLK 0 MAGCAL 1.000000,-0.064745,-0.359170,-0.077103,1.188355,-0.069814,0.091763,0.027031,1.297671,-670.2,-1024.3,-88.1,32,0.0430,1

RAFOS_FIX 5100.969727,-12257.996094,240522,181832,2,510,2598.48 IMPLIED_C_PITCH 2010,15.90,271,2014.1,15.83

HUMID 48.60 IMPLIED_C_VBD 3124,26.500280,271,3037.4

TEMP 10.73 GPS 240522,195805,4736.230,-12256.606,1,1.3,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1334 12762.25 nil 0 0 0.00

Pitch_motor 29 270 119.82 nil 0 0 0.00

Roll_motor 57 219 186.65 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.90 nil 0 0 0.00

Core 2291 5 173.64 SciCon 3866 6 372.14

Fast 0 0 0.00 PMAR 3873 17 1015.09

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1641 0 7.77

Compass 1165 5 86.21

RAFOS 869 40 514.79

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

12.26 16386 -146.63 -1.26 0.00 538.1 597.6 478.6 217.8 2766.0 0.00 0.00 0 98.71 82.49 0.00 0.00 0.005 0.000 0.000 2537.41 2543.44 2531.38 217.88 2767.62 0 0 0 15.60 30.00 30.00

99.02 18727 -146.63 -1.26 80.00 2535.9 2541.8 2530.0 217.6 2765.1 3.27 -2.03 16 155.65 32.26 11.64 2.91 0.005 0.271 0.123 3546.34 3573.12 3519.56 1710.69 3911.38 0 0 0 15.90 15.75 15.82

384.01 1060 -146.63 -1.26 0.00 3548.7 3575.6 3521.8 1711.1 3910.2 23.30 -5.95 72 390.21 0.00 0.00 2.74 0.000 0.000 0.065 3549.09 3576.50 3521.69 1710.12 2722.75 0 0 0 30.00 30.00 15.92

574.04 548 -146.63 -1.26 -80.00 3549.7 3578.4 3520.9 1710.7 2723.6 31.68 -4.48 110 589.62 0.00 0.00 3.48 0.000 0.000 0.122 3550.16 3579.06 3521.25 1710.81 1278.75 0 0 0 30.00 30.00 15.91

651.63 1060 -146.63 -1.26 0.00 3550.2 3578.8 3521.5 1710.9 1279.1 36.86 -7.07 123 658.36 0.00 0.00 3.53 0.000 0.000 0.061 3551.34 3580.19 3522.50 1710.62 2767.94 0 0 0 30.00 30.00 15.88

841.81 292 -146.63 -1.26 80.00 3550.7 3579.8 3521.6 1711.1 2767.8 49.81 -7.01 161 848.21 0.00 0.00 2.89 0.000 0.000 0.119 3549.69 3578.88 3520.50 1711.12 3910.44 0 0 0 30.00 30.00 15.89

891.79 1028 -146.63 -1.26 0.00 3549.1 3578.3 3519.9 1710.8 3910.4 53.95 -8.40 171 897.58 0.00 0.00 2.74 0.000 0.000 0.064 3551.72 3580.00 3523.44 1710.44 2724.75 0 0 0 30.00 30.00 15.93

1081.82 0 -146.63 -1.26 0.00 3550.3 3579.2 3521.5 1711.1 2723.7 68.49 -7.84 191 1083.38 0.00 0.00 0.00 0.000 0.000 0.000 3550.28 3578.50 3522.06 1710.56 2723.88 0 0 0 30.00 30.00 30.00

1264.79 0 -146.63 -1.26 0.00 3550.6 3579.2 3522.0 1710.8 2724.3 83.39 -8.28 210 1274.86 0.00 0.00 0.00 0.000 0.000 0.000 3549.56 3578.88 3520.25 1710.94 2725.31 0 0 0 30.00 30.00 30.00

1464.89 0 -146.63 -1.26 0.00 3550.5 3580.0 3521.1 1710.3 2725.0 100.33 -8.60 230 1466.45 0.00 0.00 0.00 0.000 0.000 0.000 3548.88 3577.50 3520.25 1711.31 2723.75 0 0 0 30.00 30.00 30.00

1654.92 260 -146.63 -1.26 80.00 3550.0 3578.8 3521.2 1711.1 2724.4 116.82 -8.81 249 1660.66 0.00 0.00 2.99 0.000 0.000 0.120 3550.28 3579.19 3521.38 1710.62 3910.19 0 0 0 30.00 30.00 15.96

1719.21 1028 -146.63 -1.26 0.00 3549.5 3578.3 3520.6 1709.7 3911.8 123.19 -9.82 262 1726.32 0.00 0.00 2.74 0.000 0.000 0.068 3550.22 3578.62 3521.81 1711.69 2726.06 0 0 0 30.00 30.00 16.01

1914.96 516 -146.63 -1.26 -80.00 3550.2 3578.8 3521.6 1710.6 2726.4 141.03 -9.01 282 1921.02 0.00 0.00 3.51 0.000 0.000 0.127 3549.38 3577.38 3521.38 1710.75 1280.25 0 0 0 30.00 30.00 15.97

1954.97 1028 -146.63 -1.26 0.00 3550.5 3579.4 3521.6 1710.1 1280.8 145.17 -10.51 290 1961.03 0.00 0.00 3.51 0.000 0.000 0.066 3550.50 3578.94 3522.06 1710.44 2768.50 0 0 0 30.00 30.00 16.01

2125 end dive: TARGET_DEPTH_EXCEEDED

state 2125 begin apogee

2126.53 10243 0.00 -0.32 0.00 3549.4 3577.8 3521.1 1710.6 2571.1 160.55 -8.91 308 2241.19 105.97 1.53 0.09 1.334 0.142 0.220 2949.19 3014.75 2883.62 1942.50 2625.94 0 0 0 12.13 15.98 15.56

2244 end apogee: CONTROL_FINISHED_OK

state 2244 begin climb

2244.79 10243 146.63 1.26 0.00 2947.9 3013.7 2882.2 1942.4 2626.8 162.71 0.00 319 2366.08 111.06 2.55 0.00 1.281 0.097 0.000 2351.50 2436.06 2266.94 2327.31 2627.31 0 0 0 11.83 15.58 30.00

2553.18 16646 146.63 1.26 80.00 2343.1 2421.8 2264.5 2328.6 2627.1 123.15 15.13 350 2559.03 0.00 0.00 3.15 0.000 0.000 0.122 2341.41 2418.56 2264.25 2328.25 3910.06 0 0 0 30.00 30.00 15.61

2593.18 17414 146.63 1.26 0.00 2342.6 2420.5 2264.7 2327.2 3911.9 116.91 15.70 358 2599.01 0.00 0.00 3.05 0.000 0.000 0.069 2341.34 2418.19 2264.50 2327.81 2577.62 0 0 0 30.00 30.00 15.67

2783.24 16646 146.63 1.26 80.00 2341.4 2418.8 2264.0 2328.8 2576.8 89.81 13.76 378 2789.12 0.00 0.00 3.23 0.000 0.000 0.121 2341.47 2417.62 2265.31 2329.31 3909.31 0 0 0 30.00 30.00 15.73

2837.50 17414 146.63 1.26 0.00 2340.0 2416.4 2263.6 2328.1 3909.6 81.75 14.81 389 2844.76 0.00 0.00 3.02 0.000 0.000 0.069 2340.75 2417.69 2263.81 2327.69 2577.19 0 0 0 30.00 30.00 15.79

3033.27 16646 146.63 1.26 80.00 2340.9 2417.3 2264.4 2327.9 2576.2 54.86 13.77 409 3044.38 0.00 0.00 3.34 0.000 0.000 0.121 2339.16 2415.75 2262.56 2329.12 3909.38 0 0 0 30.00 30.00 15.82

3077.77 17414 146.63 1.26 0.00 2339.4 2414.6 2264.2 2328.6 3909.7 48.38 14.52 417 3084.29 0.00 0.00 3.09 0.000 0.000 0.069 2338.91 2413.62 2264.19 2328.00 2578.00 0 0 0 30.00 30.00 15.86

3267.83 16386 146.63 1.26 0.00 2339.4 2415.1 2263.7 2329.0 2577.8 24.36 11.94 455 3272.38 0.00 0.00 0.00 0.000 0.000 0.000 2337.28 2413.12 2261.44 2328.44 2577.00 0 0 0 30.00 30.00 30.00

3452.95 16646 146.63 1.26 80.00 2338.9 2415.4 2262.5 2328.6 2577.2 5.12 8.51 492 3459.57 0.00 0.00 3.38 0.000 0.000 0.119 2338.16 2414.19 2262.12 2327.56 3909.88 0 0 0 30.00 30.00 15.90

3687.09 11303 376.58 1.55 0.00 2337.3 2413.0 2261.6 2327.6 3909.8 4.37 -0.63 538 3836.68 137.26 0.40 3.09 1.142 0.070 0.067 1577.59 1670.44 1484.75 2403.12 2574.88 0 0 0 12.04 15.96 15.96

3837 end climb: SURFACE_DEPTH_REACHED

state 3837 begin surface coast

3865 end surface coast: CONTROL_FINISHED_OK

state 3865 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	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	2950.3235	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	2018.385	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	158.7003	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.765305	FG_AHR_24V	203.55983	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	240522,184431,4736.496,-12256.432,2,1.0,28,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,184849,4736.515,-12256.388,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	203.2,1223,-17.1,-9.697,-20.82,2278,0.125
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

NET	CACST,8,1,20220524193014.742896,06,32767,45,0120,0150,07,01,01,00,01,1,045,121,3,5,7,0,150,17.4,4.04,-100,-1.04,-01,-0.12,54,10000,5000,0,5,01,01*5A	INTERNAL_PRESSURE	7.94199
NAV	1653420918,93.9,0,stop	_24V_AH	14.81,109.247
MODEM_MSG	CACST,8,0,20220524190401.454626,18,31310,38,0288,0000,246,02,02,01,02,1,025,121,0,5,1,0,150,-0.9,3.00,-100,0.00,-01,-0.51,74,925,0025,0,1,00,00*31	_10V_AH	14.80,0.000
NET_PING	1653419411,28,476.049011,11.800000,0.372863	FG_AHR_24Vo	203.751
FREEZE	1.15,14.809,-1.407,0,1,0	FG_AHR_10Vo	158.744
FINISH	1.2,1.018975	MEM0	60132,1,0,0
SM_CCo	4081.07,176.76,1.112,0,541.3,606.3,476.4,590.84	MEM1	65508,1,0,0
SM_GC	1.50,176.76,13.77,0.44,1.112,0.074,0.085,541.3,606.3,476.4,216.5,2773.2,0,0,0,11.85,15.55,15.58	MEM2	942748,25,103680,82
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16145,572
IRIDIUM_FIX	4737.46,-12258.89,240522,184139	CAP_FILE_SIZE	401517,0
TCM_TEMP	13.73	SDSIZE	3918848,3884288
SC_FREEKB	3877728	SDFILEDIR	276,3
PM_FREEKB_00	62069760	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1403.3
RAFOS_CLK	0	MAGCAL	1.000000,-0.064745,-0.359170,-0.077103,1.188355,-0.069814,0.091763,0.027031,1.297671,-670.2,-1024.3,-88.1,32,0.0430,1
RAFOS_FIX	5100.969727,-12257.996094,240522,181832,2,510,2598.48	IMPLIED_C_PITCH	2010,15.90,271,2014.1,15.83
HUMID	48.60	IMPLIED_C_VBD	3124,26.500280,271,3037.4
TEMP	10.73	GPS	240522,195805,4736.230,-12256.606,1,1.3,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1334	12762.25	nil	0	0	0.00
Pitch_motor	29	270	119.82	nil	0	0	0.00
Roll_motor	57	219	186.65	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.90	nil	0	0	0.00
Core	2291	5	173.64	SciCon	3866	6	372.14
Fast	0	0	0.00	PMAR	3873	17	1015.09
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1641	0	7.77
Compass	1165	5	86.21
RAFOS	869	40	514.79
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
12.26	16386	-146.63	-1.26	0.00	538.1	597.6	478.6	217.8	2766.0	0.00	0.00	0	98.71	82.49	0.00	0.00	0.005	0.000	0.000	2537.41	2543.44	2531.38	217.88	2767.62	0	0	0	15.60	30.00	30.00
99.02	18727	-146.63	-1.26	80.00	2535.9	2541.8	2530.0	217.6	2765.1	3.27	-2.03	16	155.65	32.26	11.64	2.91	0.005	0.271	0.123	3546.34	3573.12	3519.56	1710.69	3911.38	0	0	0	15.90	15.75	15.82
384.01	1060	-146.63	-1.26	0.00	3548.7	3575.6	3521.8	1711.1	3910.2	23.30	-5.95	72	390.21	0.00	0.00	2.74	0.000	0.000	0.065	3549.09	3576.50	3521.69	1710.12	2722.75	0	0	0	30.00	30.00	15.92
574.04	548	-146.63	-1.26	-80.00	3549.7	3578.4	3520.9	1710.7	2723.6	31.68	-4.48	110	589.62	0.00	0.00	3.48	0.000	0.000	0.122	3550.16	3579.06	3521.25	1710.81	1278.75	0	0	0	30.00	30.00	15.91
651.63	1060	-146.63	-1.26	0.00	3550.2	3578.8	3521.5	1710.9	1279.1	36.86	-7.07	123	658.36	0.00	0.00	3.53	0.000	0.000	0.061	3551.34	3580.19	3522.50	1710.62	2767.94	0	0	0	30.00	30.00	15.88
841.81	292	-146.63	-1.26	80.00	3550.7	3579.8	3521.6	1711.1	2767.8	49.81	-7.01	161	848.21	0.00	0.00	2.89	0.000	0.000	0.119	3549.69	3578.88	3520.50	1711.12	3910.44	0	0	0	30.00	30.00	15.89
891.79	1028	-146.63	-1.26	0.00	3549.1	3578.3	3519.9	1710.8	3910.4	53.95	-8.40	171	897.58	0.00	0.00	2.74	0.000	0.000	0.064	3551.72	3580.00	3523.44	1710.44	2724.75	0	0	0	30.00	30.00	15.93
1081.82	0	-146.63	-1.26	0.00	3550.3	3579.2	3521.5	1711.1	2723.7	68.49	-7.84	191	1083.38	0.00	0.00	0.00	0.000	0.000	0.000	3550.28	3578.50	3522.06	1710.56	2723.88	0	0	0	30.00	30.00	30.00
1264.79	0	-146.63	-1.26	0.00	3550.6	3579.2	3522.0	1710.8	2724.3	83.39	-8.28	210	1274.86	0.00	0.00	0.00	0.000	0.000	0.000	3549.56	3578.88	3520.25	1710.94	2725.31	0	0	0	30.00	30.00	30.00
1464.89	0	-146.63	-1.26	0.00	3550.5	3580.0	3521.1	1710.3	2725.0	100.33	-8.60	230	1466.45	0.00	0.00	0.00	0.000	0.000	0.000	3548.88	3577.50	3520.25	1711.31	2723.75	0	0	0	30.00	30.00	30.00
1654.92	260	-146.63	-1.26	80.00	3550.0	3578.8	3521.2	1711.1	2724.4	116.82	-8.81	249	1660.66	0.00	0.00	2.99	0.000	0.000	0.120	3550.28	3579.19	3521.38	1710.62	3910.19	0	0	0	30.00	30.00	15.96
1719.21	1028	-146.63	-1.26	0.00	3549.5	3578.3	3520.6	1709.7	3911.8	123.19	-9.82	262	1726.32	0.00	0.00	2.74	0.000	0.000	0.068	3550.22	3578.62	3521.81	1711.69	2726.06	0	0	0	30.00	30.00	16.01
1914.96	516	-146.63	-1.26	-80.00	3550.2	3578.8	3521.6	1710.6	2726.4	141.03	-9.01	282	1921.02	0.00	0.00	3.51	0.000	0.000	0.127	3549.38	3577.38	3521.38	1710.75	1280.25	0	0	0	30.00	30.00	15.97
1954.97	1028	-146.63	-1.26	0.00	3550.5	3579.4	3521.6	1710.1	1280.8	145.17	-10.51	290	1961.03	0.00	0.00	3.51	0.000	0.000	0.066	3550.50	3578.94	3522.06	1710.44	2768.50	0	0	0	30.00	30.00	16.01
2125	end dive: TARGET_DEPTH_EXCEEDED
state	2125	begin apogee
2126.53	10243	0.00	-0.32	0.00	3549.4	3577.8	3521.1	1710.6	2571.1	160.55	-8.91	308	2241.19	105.97	1.53	0.09	1.334	0.142	0.220	2949.19	3014.75	2883.62	1942.50	2625.94	0	0	0	12.13	15.98	15.56
2244	end apogee: CONTROL_FINISHED_OK
state	2244	begin climb
2244.79	10243	146.63	1.26	0.00	2947.9	3013.7	2882.2	1942.4	2626.8	162.71	0.00	319	2366.08	111.06	2.55	0.00	1.281	0.097	0.000	2351.50	2436.06	2266.94	2327.31	2627.31	0	0	0	11.83	15.58	30.00
2553.18	16646	146.63	1.26	80.00	2343.1	2421.8	2264.5	2328.6	2627.1	123.15	15.13	350	2559.03	0.00	0.00	3.15	0.000	0.000	0.122	2341.41	2418.56	2264.25	2328.25	3910.06	0	0	0	30.00	30.00	15.61
2593.18	17414	146.63	1.26	0.00	2342.6	2420.5	2264.7	2327.2	3911.9	116.91	15.70	358	2599.01	0.00	0.00	3.05	0.000	0.000	0.069	2341.34	2418.19	2264.50	2327.81	2577.62	0	0	0	30.00	30.00	15.67
2783.24	16646	146.63	1.26	80.00	2341.4	2418.8	2264.0	2328.8	2576.8	89.81	13.76	378	2789.12	0.00	0.00	3.23	0.000	0.000	0.121	2341.47	2417.62	2265.31	2329.31	3909.31	0	0	0	30.00	30.00	15.73
2837.50	17414	146.63	1.26	0.00	2340.0	2416.4	2263.6	2328.1	3909.6	81.75	14.81	389	2844.76	0.00	0.00	3.02	0.000	0.000	0.069	2340.75	2417.69	2263.81	2327.69	2577.19	0	0	0	30.00	30.00	15.79
3033.27	16646	146.63	1.26	80.00	2340.9	2417.3	2264.4	2327.9	2576.2	54.86	13.77	409	3044.38	0.00	0.00	3.34	0.000	0.000	0.121	2339.16	2415.75	2262.56	2329.12	3909.38	0	0	0	30.00	30.00	15.82
3077.77	17414	146.63	1.26	0.00	2339.4	2414.6	2264.2	2328.6	3909.7	48.38	14.52	417	3084.29	0.00	0.00	3.09	0.000	0.000	0.069	2338.91	2413.62	2264.19	2328.00	2578.00	0	0	0	30.00	30.00	15.86
3267.83	16386	146.63	1.26	0.00	2339.4	2415.1	2263.7	2329.0	2577.8	24.36	11.94	455	3272.38	0.00	0.00	0.00	0.000	0.000	0.000	2337.28	2413.12	2261.44	2328.44	2577.00	0	0	0	30.00	30.00	30.00
3452.95	16646	146.63	1.26	80.00	2338.9	2415.4	2262.5	2328.6	2577.2	5.12	8.51	492	3459.57	0.00	0.00	3.38	0.000	0.000	0.119	2338.16	2414.19	2262.12	2327.56	3909.88	0	0	0	30.00	30.00	15.90
3687.09	11303	376.58	1.55	0.00	2337.3	2413.0	2261.6	2327.6	3909.8	4.37	-0.63	538	3836.68	137.26	0.40	3.09	1.142	0.070	0.067	1577.59	1670.44	1484.75	2403.12	2574.88	0	0	0	12.04	15.96	15.96
3837	end climb: SURFACE_DEPTH_REACHED
state	3837	begin surface coast
3865	end surface coast: CONTROL_FINISHED_OK
state	3865	begin surface