Glider dive log

HoodCanal 22May22 * SG235 * Dive index * Mission links * Dive 4 * 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 17 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 4 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 4 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 157.75694 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 14.353327 FG_AHR_24V 199.72227 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 -158.84331 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 157.75694 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 199.72227 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 14.353327 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 -158.84331 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 17 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 4 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 4 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 220522,191111,4736.416,-12256.742,17,1.5,19,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -57.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,191512,4736.404,-12256.729,4,1.5,6,15.5 MHEAD_RNG_PITCHd_Wd 188.8,821,-17.6,-10.000,-21.21,2209,0.163

SPEED_LIMITS 0.173,0.258 D_GRID 167

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:

NET CACST,8,0,20220522195058.261608,06,32767,45,0104,0150,07,00,00,00,00,1,025,045,0,5,1,0,150,20.3,5.94,-100,-2.94,-01,-0.05,57,10000,5000,0,-1,00,00*74 _24V_AH 14.84,105.550

NET_PING 1653249010,25,1574.420898,17.100000,-2.091605 _10V_AH 14.81,0.000

FREEZE 1.89,12.802,-1.494,0,1,0 FG_AHR_24Vo 199.913

NAV 1653250053,0.2,0,stop FG_AHR_10Vo 157.813

FINISH 1.9,1.020558 MEM0 60148,1,0,0

SM_CCo 3012.84,323.48,1.117,0,500.9,585.5,416.3,600.76 MEM1 65508,1,0,0

SM_GC 1.33,0.00,13.56,2.81,0.000,0.051,0.070,499.0,582.2,415.8,215.4,2728.9,0,0,0,30.00,15.33,15.34 MEM2 932892,23,113456,88

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 9728,405

IRIDIUM_FIX 4737.46,-12258.89,220522,181631 CAP_FILE_SIZE 324510,0

TCM_TEMP 12.69 SDSIZE 3918848,3884640

PM_FREEKB_00 62128896 SDFILEDIR 268,3

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 MAGCAL 1.000000,-0.027094,-0.018385,-0.060204,1.100754,-0.016663,0.050825,-0.031743,1.129010,-976.6,-1097.1,-54.0,26,0.0253,0

HUMID 47.97 IMPLIED_C_PITCH 2005,16.03,211,2017.7,15.19

TEMP 10.64 IMPLIED_C_VBD 3797,12.289487,135,3050.0

INTERNAL_PRESSURE 7.90796 GPS 220522,200831,4736.274,-12256.902,28,1.0,28,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 1336 13074.29 nil 0 0 0.00

Pitch_motor 29 270 118.13 nil 0 0 0.00

Roll_motor 48 259 186.04 nil 0 0 0.00

Iridium 149 208 463.11 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.32 nil 0 0 0.00

Core 1651 5 125.25 SciCon 11 4 0.78

Fast 0 0 0.00 PMAR 2693 17 700.63

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1334 0 6.32

Compass 558 5 41.37

RAFOS 3265 40 1934.44

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

10.33 16386 -146.63 -1.41 0.00 572.0 642.3 501.6 215.1 2725.7 0.00 0.00 0 119.65 105.12 0.00 0.00 0.005 0.000 0.000 2990.72 2998.00 2983.44 215.19 2724.69 0 0 0 15.72 30.00 30.00

119.90 18727 -146.63 -1.41 80.00 2989.0 2996.8 2981.1 215.1 2724.8 3.29 -1.82 21 159.48 15.90 11.36 2.90 0.006 0.270 0.132 3545.81 3577.50 3514.12 1689.25 3909.50 0 0 0 15.76 15.61 15.68

162.08 1028 -146.63 -1.41 0.00 3545.0 3576.4 3513.6 1689.3 3909.8 8.12 -10.53 29 168.35 0.00 0.00 2.74 0.000 0.000 0.071 3544.81 3575.94 3513.69 1688.88 2723.69 0 0 0 30.00 30.00 15.71

351.96 260 -146.63 -1.41 80.00 3546.8 3579.9 3513.8 1688.8 2724.6 29.28 -10.20 67 358.40 0.00 0.00 2.89 0.000 0.000 0.128 3549.03 3581.75 3516.31 1688.75 3912.12 0 0 0 30.00 30.00 15.74

587.02 1028 -146.63 -1.41 0.00 3547.8 3580.6 3515.0 1688.6 3910.7 53.73 -10.87 114 593.43 0.00 0.00 2.71 0.000 0.000 0.071 3547.47 3580.81 3514.12 1689.81 2725.56 0 0 0 30.00 30.00 15.82

782.07 260 -146.63 -1.41 80.00 3547.2 3580.4 3513.9 1689.1 2725.4 72.76 -9.26 134 788.51 0.00 0.00 2.88 0.000 0.000 0.129 3547.38 3580.25 3514.50 1689.19 3911.50 0 0 0 30.00 30.00 15.82

981.81 1028 -146.63 -1.41 0.00 3547.9 3580.4 3515.3 1688.9 3910.9 94.18 -11.40 173 988.20 0.00 0.00 2.71 0.000 0.000 0.073 3502.75 3490.81 3514.69 1688.12 2725.81 0 0 0 30.00 30.00 15.87

1176.84 260 -146.63 -1.41 80.00 3548.0 3581.2 3514.8 1688.8 2726.1 114.09 -10.39 193 1183.26 0.00 0.00 2.87 0.000 0.000 0.131 3548.22 3581.06 3515.38 1689.50 3911.75 0 0 0 30.00 30.00 15.85

1236.86 1028 -146.63 -1.41 0.00 3547.6 3581.2 3514.0 1689.4 3912.1 121.09 -11.93 205 1243.22 0.00 0.00 2.70 0.000 0.000 0.074 3547.38 3581.38 3513.38 1689.00 2727.25 0 0 0 30.00 30.00 15.89

1426.87 0 -146.63 -1.41 0.00 3548.1 3581.6 3514.6 1688.2 2727.1 140.75 -10.03 225 1428.42 0.00 0.00 0.00 0.000 0.000 0.000 3546.16 3579.50 3512.81 1689.31 2726.38 0 0 0 30.00 30.00 30.00

1519 end dive: TARGET_DEPTH_EXCEEDED

state 1519 begin apogee

1520.61 10243 0.00 -0.35 0.00 3547.6 3580.8 3514.3 1688.9 2577.5 150.21 -10.15 235 1635.45 105.77 1.73 0.07 1.336 0.152 0.259 2949.06 3013.88 2884.25 1947.12 2622.06 0 0 0 12.03 15.85 15.45

1642 end apogee: CONTROL_FINISHED_OK

state 1642 begin climb

1643.00 10759 146.63 1.41 -80.00 2947.3 3011.8 2882.9 1946.8 2622.5 152.56 0.00 246 1768.14 109.00 2.83 3.59 1.291 0.098 0.135 2347.66 2428.81 2266.50 2374.75 1188.06 0 0 0 11.86 15.47 15.26

1775.85 1028 146.63 1.41 0.00 2348.8 2426.6 2270.9 2374.6 1188.1 137.37 17.16 271 1782.55 0.00 0.00 3.35 0.000 0.000 0.063 2347.28 2424.06 2270.50 2375.19 2620.12 0 0 0 30.00 30.00 15.36

1970.87 260 146.63 1.41 80.00 2344.1 2420.2 2268.0 2375.2 2620.4 103.27 17.00 291 1977.44 0.00 0.00 3.15 0.000 0.000 0.134 2344.50 2419.25 2269.75 2375.25 3910.88 0 0 0 30.00 30.00 15.58

2020.87 17414 146.63 1.41 0.00 2343.4 2418.6 2268.2 2374.8 3909.7 94.12 18.54 301 2027.39 0.00 0.00 3.09 0.000 0.000 0.072 2343.75 2418.50 2269.00 2374.69 2578.25 0 0 0 30.00 30.00 15.65

2207.88 16646 146.63 1.41 80.00 2342.8 2417.8 2267.9 2375.7 2578.4 62.35 16.55 321 2214.50 0.00 0.00 3.21 0.000 0.000 0.126 2342.16 2416.00 2268.31 2375.62 3912.19 0 0 0 30.00 30.00 15.69

2237.89 17414 146.63 1.41 0.00 2341.5 2415.6 2267.3 2375.2 3910.7 57.19 17.47 327 2244.40 0.00 0.00 3.07 0.000 0.000 0.072 2341.66 2415.94 2267.38 2374.56 2576.75 0 0 0 30.00 30.00 15.73

2427.91 16386 146.63 1.41 0.00 2341.3 2415.2 2267.5 2374.8 2576.9 27.55 15.38 361 2429.47 0.00 0.00 0.00 0.000 0.000 0.000 2337.72 2411.94 2263.50 2375.19 2578.75 0 0 0 30.00 30.00 30.00

2619.12 16646 146.63 1.41 80.00 2341.0 2415.6 2266.4 2375.1 2577.2 4.57 10.52 396 2624.89 0.00 0.00 3.22 0.000 0.000 0.124 2338.28 2412.00 2264.56 2374.69 3910.94 0 0 0 30.00 30.00 15.80

2643 end climb: SURFACE_DEPTH_REACHED

state 2643 begin surface coast

2669 end surface coast: CONTROL_FINISHED_OK

state 2669 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	17	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	4	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	4	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	157.75694	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	14.353327	FG_AHR_24V	199.72227	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	-158.84331	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	220522,191111,4736.416,-12256.742,17,1.5,19,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,191512,4736.404,-12256.729,4,1.5,6,15.5	MHEAD_RNG_PITCHd_Wd	188.8,821,-17.6,-10.000,-21.21,2209,0.163
SPEED_LIMITS	0.173,0.258	D_GRID	167
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

NET	CACST,8,0,20220522195058.261608,06,32767,45,0104,0150,07,00,00,00,00,1,025,045,0,5,1,0,150,20.3,5.94,-100,-2.94,-01,-0.05,57,10000,5000,0,-1,00,00*74	_24V_AH	14.84,105.550
NET_PING	1653249010,25,1574.420898,17.100000,-2.091605	_10V_AH	14.81,0.000
FREEZE	1.89,12.802,-1.494,0,1,0	FG_AHR_24Vo	199.913
NAV	1653250053,0.2,0,stop	FG_AHR_10Vo	157.813
FINISH	1.9,1.020558	MEM0	60148,1,0,0
SM_CCo	3012.84,323.48,1.117,0,500.9,585.5,416.3,600.76	MEM1	65508,1,0,0
SM_GC	1.33,0.00,13.56,2.81,0.000,0.051,0.070,499.0,582.2,415.8,215.4,2728.9,0,0,0,30.00,15.33,15.34	MEM2	932892,23,113456,88
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	9728,405
IRIDIUM_FIX	4737.46,-12258.89,220522,181631	CAP_FILE_SIZE	324510,0
TCM_TEMP	12.69	SDSIZE	3918848,3884640
PM_FREEKB_00	62128896	SDFILEDIR	268,3
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	MAGCAL	1.000000,-0.027094,-0.018385,-0.060204,1.100754,-0.016663,0.050825,-0.031743,1.129010,-976.6,-1097.1,-54.0,26,0.0253,0
HUMID	47.97	IMPLIED_C_PITCH	2005,16.03,211,2017.7,15.19
TEMP	10.64	IMPLIED_C_VBD	3797,12.289487,135,3050.0
INTERNAL_PRESSURE	7.90796	GPS	220522,200831,4736.274,-12256.902,28,1.0,28,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	1336	13074.29	nil	0	0	0.00
Pitch_motor	29	270	118.13	nil	0	0	0.00
Roll_motor	48	259	186.04	nil	0	0	0.00
Iridium	149	208	463.11	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.32	nil	0	0	0.00
Core	1651	5	125.25	SciCon	11	4	0.78
Fast	0	0	0.00	PMAR	2693	17	700.63
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1334	0	6.32
Compass	558	5	41.37
RAFOS	3265	40	1934.44
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
10.33	16386	-146.63	-1.41	0.00	572.0	642.3	501.6	215.1	2725.7	0.00	0.00	0	119.65	105.12	0.00	0.00	0.005	0.000	0.000	2990.72	2998.00	2983.44	215.19	2724.69	0	0	0	15.72	30.00	30.00
119.90	18727	-146.63	-1.41	80.00	2989.0	2996.8	2981.1	215.1	2724.8	3.29	-1.82	21	159.48	15.90	11.36	2.90	0.006	0.270	0.132	3545.81	3577.50	3514.12	1689.25	3909.50	0	0	0	15.76	15.61	15.68
162.08	1028	-146.63	-1.41	0.00	3545.0	3576.4	3513.6	1689.3	3909.8	8.12	-10.53	29	168.35	0.00	0.00	2.74	0.000	0.000	0.071	3544.81	3575.94	3513.69	1688.88	2723.69	0	0	0	30.00	30.00	15.71
351.96	260	-146.63	-1.41	80.00	3546.8	3579.9	3513.8	1688.8	2724.6	29.28	-10.20	67	358.40	0.00	0.00	2.89	0.000	0.000	0.128	3549.03	3581.75	3516.31	1688.75	3912.12	0	0	0	30.00	30.00	15.74
587.02	1028	-146.63	-1.41	0.00	3547.8	3580.6	3515.0	1688.6	3910.7	53.73	-10.87	114	593.43	0.00	0.00	2.71	0.000	0.000	0.071	3547.47	3580.81	3514.12	1689.81	2725.56	0	0	0	30.00	30.00	15.82
782.07	260	-146.63	-1.41	80.00	3547.2	3580.4	3513.9	1689.1	2725.4	72.76	-9.26	134	788.51	0.00	0.00	2.88	0.000	0.000	0.129	3547.38	3580.25	3514.50	1689.19	3911.50	0	0	0	30.00	30.00	15.82
981.81	1028	-146.63	-1.41	0.00	3547.9	3580.4	3515.3	1688.9	3910.9	94.18	-11.40	173	988.20	0.00	0.00	2.71	0.000	0.000	0.073	3502.75	3490.81	3514.69	1688.12	2725.81	0	0	0	30.00	30.00	15.87
1176.84	260	-146.63	-1.41	80.00	3548.0	3581.2	3514.8	1688.8	2726.1	114.09	-10.39	193	1183.26	0.00	0.00	2.87	0.000	0.000	0.131	3548.22	3581.06	3515.38	1689.50	3911.75	0	0	0	30.00	30.00	15.85
1236.86	1028	-146.63	-1.41	0.00	3547.6	3581.2	3514.0	1689.4	3912.1	121.09	-11.93	205	1243.22	0.00	0.00	2.70	0.000	0.000	0.074	3547.38	3581.38	3513.38	1689.00	2727.25	0	0	0	30.00	30.00	15.89
1426.87	0	-146.63	-1.41	0.00	3548.1	3581.6	3514.6	1688.2	2727.1	140.75	-10.03	225	1428.42	0.00	0.00	0.00	0.000	0.000	0.000	3546.16	3579.50	3512.81	1689.31	2726.38	0	0	0	30.00	30.00	30.00
1519	end dive: TARGET_DEPTH_EXCEEDED
state	1519	begin apogee
1520.61	10243	0.00	-0.35	0.00	3547.6	3580.8	3514.3	1688.9	2577.5	150.21	-10.15	235	1635.45	105.77	1.73	0.07	1.336	0.152	0.259	2949.06	3013.88	2884.25	1947.12	2622.06	0	0	0	12.03	15.85	15.45
1642	end apogee: CONTROL_FINISHED_OK
state	1642	begin climb
1643.00	10759	146.63	1.41	-80.00	2947.3	3011.8	2882.9	1946.8	2622.5	152.56	0.00	246	1768.14	109.00	2.83	3.59	1.291	0.098	0.135	2347.66	2428.81	2266.50	2374.75	1188.06	0	0	0	11.86	15.47	15.26
1775.85	1028	146.63	1.41	0.00	2348.8	2426.6	2270.9	2374.6	1188.1	137.37	17.16	271	1782.55	0.00	0.00	3.35	0.000	0.000	0.063	2347.28	2424.06	2270.50	2375.19	2620.12	0	0	0	30.00	30.00	15.36
1970.87	260	146.63	1.41	80.00	2344.1	2420.2	2268.0	2375.2	2620.4	103.27	17.00	291	1977.44	0.00	0.00	3.15	0.000	0.000	0.134	2344.50	2419.25	2269.75	2375.25	3910.88	0	0	0	30.00	30.00	15.58
2020.87	17414	146.63	1.41	0.00	2343.4	2418.6	2268.2	2374.8	3909.7	94.12	18.54	301	2027.39	0.00	0.00	3.09	0.000	0.000	0.072	2343.75	2418.50	2269.00	2374.69	2578.25	0	0	0	30.00	30.00	15.65
2207.88	16646	146.63	1.41	80.00	2342.8	2417.8	2267.9	2375.7	2578.4	62.35	16.55	321	2214.50	0.00	0.00	3.21	0.000	0.000	0.126	2342.16	2416.00	2268.31	2375.62	3912.19	0	0	0	30.00	30.00	15.69
2237.89	17414	146.63	1.41	0.00	2341.5	2415.6	2267.3	2375.2	3910.7	57.19	17.47	327	2244.40	0.00	0.00	3.07	0.000	0.000	0.072	2341.66	2415.94	2267.38	2374.56	2576.75	0	0	0	30.00	30.00	15.73
2427.91	16386	146.63	1.41	0.00	2341.3	2415.2	2267.5	2374.8	2576.9	27.55	15.38	361	2429.47	0.00	0.00	0.00	0.000	0.000	0.000	2337.72	2411.94	2263.50	2375.19	2578.75	0	0	0	30.00	30.00	30.00
2619.12	16646	146.63	1.41	80.00	2341.0	2415.6	2266.4	2375.1	2577.2	4.57	10.52	396	2624.89	0.00	0.00	3.22	0.000	0.000	0.124	2338.28	2412.00	2264.56	2374.69	3910.94	0	0	0	30.00	30.00	15.80
2643	end climb: SURFACE_DEPTH_REACHED
state	2643	begin surface coast
2669	end surface coast: CONTROL_FINISHED_OK
state	2669	begin surface