Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 5 * 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 20 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 5 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 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 85 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 159.07065 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.8752 FG_AHR_24V 205.23035 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 159.07065 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 205.23035 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.8752 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 85

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 20 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 5 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 0 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 250522,052402,4736.393,-12256.605,20,1.2,21,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,052808,4736.418,-12256.591,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 197.9,928,-17.1,-9.697,-20.82,2278,0.134

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,-0.040420,0.006061,-0.075623,1.110009,-0.052738,0.029578,-0.018939,1.154289,-985.539612,-1070.969238,-64.723488

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653456912,17.7,0,stop _10V_AH 14.94,0.000

NET CARFP,2022-05-25T05:53:31.987508,0,25,121,1,5,0,0,1;8;08197903a05000ff,1;5;ac320ec09c;1;7;cb47ef5c5707a7,*29 FG_AHR_24Vo 205.423

FREEZE 4.30,13.767,-1.437,0,1,0 FG_AHR_10Vo 159.110

SM_CCo 4228.08,224.46,1.097,0,500.4,577.9,422.8,600.89 MEM0 60132,1,0,0

SM_GC 1.26,0.00,13.90,0.44,0.000,0.056,0.086,495.3,567.8,422.9,214.0,2773.6,0,0,0,30.00,15.45,15.45 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 942840,27,103608,79

IRIDIUM_FIX 4738.33,-12256.21,250522,041010 DATA_FILE_SIZE 16136,601

TCM_TEMP 13.71 CAP_FILE_SIZE 406074,0

SC_FREEKB 3877088 SDSIZE 3918848,3881440

PM_FREEKB_00 61887040 SDFILEDIR 301,3

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

RAFOS_CLK -2 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,-0.027890,-0.002849,-0.078325,1.115509,-0.015352,0.031133,-0.052401,1.102101,-982.3,-1085.5,-27.9,34,0.0324,1

HUMID 48.73 IMPLIED_C_PITCH 2011,15.87,279,2020.3,15.87

TEMP 11.05 IMPLIED_C_VBD 3133,25.798372,279,3041.3

INTERNAL_PRESSURE 7.95298 GPS 250522,064145,4736.103,-12256.972,1,1.1,3,15.5

_24V_AH 14.95,111.139

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 662 1339 13266.17 nil 0 0 0.00

Pitch_motor 30 252 113.61 nil 0 0 0.00

Roll_motor 63 239 226.23 nil 0 0 0.00

Iridium 153 218 499.46 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 2509 5 191.96 SciCon 4002 6 382.54

Fast 0 0 0.00 PMAR 4006 17 1060.36

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1823 0 8.72

Compass 1218 5 90.98

RAFOS 371 40 221.95

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

10.98 16386 -146.63 -1.26 0.00 495.6 561.1 430.1 208.3 2723.8 0.00 0.00 0 98.61 84.15 0.00 0.00 0.005 0.000 0.000 2489.50 2489.06 2489.94 208.00 2724.06 0 0 0 15.79 30.00 30.00

98.86 18983 -146.63 -1.26 -80.00 2490.3 2490.9 2489.7 208.2 2723.4 3.08 -1.77 15 156.00 33.34 11.66 3.46 0.005 0.253 0.118 3537.97 3558.75 3517.19 1725.44 1277.25 0 0 0 15.81 15.67 15.74

169.35 1060 -146.63 -1.26 0.00 3546.8 3574.2 3519.2 1725.8 1276.8 6.89 -5.60 28 175.81 0.00 0.00 3.38 0.000 0.000 0.060 3549.16 3577.25 3521.06 1725.25 2772.81 0 0 0 30.00 30.00 15.77

358.60 292 -146.63 -1.26 80.00 3548.4 3578.4 3518.4 1726.0 2772.4 16.34 -4.40 65 364.86 0.00 0.00 2.79 0.000 0.000 0.118 3547.84 3576.94 3518.75 1725.12 3911.62 0 0 0 30.00 30.00 15.78

593.71 1060 -146.63 -1.26 0.00 3548.6 3577.4 3519.7 1724.8 3911.1 27.57 -4.64 112 599.99 0.00 0.00 2.68 0.000 0.000 0.062 3548.69 3576.56 3520.81 1725.19 2722.81 0 0 0 30.00 30.00 15.88

781.77 292 -146.63 -1.26 80.00 3549.5 3578.4 3520.6 1725.2 2723.4 37.32 -5.50 150 788.15 0.00 0.00 2.89 0.000 0.000 0.114 3548.62 3578.25 3519.00 1724.94 3911.25 0 0 0 30.00 30.00 15.88

905.73 1060 -146.63 -1.26 0.00 3549.8 3578.6 3520.9 1723.9 3911.0 46.12 -7.37 174 912.01 0.00 0.00 2.68 0.000 0.000 0.063 3549.94 3578.75 3521.12 1724.69 2723.81 0 0 0 30.00 30.00 15.93

1095.76 548 -146.63 -1.26 -80.00 3548.8 3577.6 3519.9 1725.5 2724.7 59.38 -7.07 199 1101.72 0.00 0.00 3.42 0.000 0.000 0.121 3548.72 3578.69 3518.75 1724.94 1278.81 0 0 0 30.00 30.00 15.92

1155.87 1028 -146.63 -1.26 0.00 3549.7 3579.4 3520.0 1725.4 1279.6 64.36 -8.43 211 1161.73 0.00 0.00 3.45 0.000 0.000 0.062 3521.66 3521.06 3522.25 1724.50 2768.19 0 0 0 30.00 30.00 15.97

1348.83 292 -146.63 -1.26 80.00 3550.2 3580.1 3520.2 1725.6 2768.9 78.75 -7.50 232 1354.48 0.00 0.00 2.85 0.000 0.000 0.121 3548.44 3578.00 3518.88 1725.00 3911.88 0 0 0 30.00 30.00 15.95

1413.08 1028 -146.63 -1.26 0.00 3549.2 3579.6 3518.8 1725.0 3910.5 84.41 -8.87 245 1420.18 0.00 0.00 2.71 0.000 0.000 0.065 3550.47 3579.25 3521.69 1724.94 2723.06 0 0 0 30.00 30.00 15.99

1608.83 0 -146.63 -1.26 0.00 3550.9 3579.9 3521.9 1724.8 2723.6 100.18 -8.29 265 1610.39 0.00 0.00 0.00 0.000 0.000 0.000 3549.91 3580.06 3519.75 1725.06 2723.44 0 0 0 30.00 30.00 30.00

1798.85 0 -146.63 -1.26 0.00 3549.3 3579.1 3519.4 1724.8 2724.2 115.98 -8.17 284 1800.41 0.00 0.00 0.00 0.000 0.000 0.000 3548.81 3578.56 3519.06 1724.94 2724.25 0 0 0 30.00 30.00 30.00

1985.88 260 -146.63 -1.26 80.00 3549.4 3578.7 3520.2 1724.8 2723.7 131.49 -8.58 303 1991.64 0.00 0.00 2.97 0.000 0.000 0.120 3549.97 3579.00 3520.94 1724.62 3910.94 0 0 0 30.00 30.00 15.99

2025.89 1028 -146.63 -1.26 0.00 3550.4 3579.2 3521.5 1725.0 3910.4 135.25 -9.39 311 2031.54 0.00 0.00 2.70 0.000 0.000 0.068 3550.25 3579.12 3521.38 1724.75 2724.62 0 0 0 30.00 30.00 16.02

2215.95 0 -146.63 -1.26 0.00 3549.8 3579.1 3520.4 1724.5 2724.2 151.26 -8.31 331 2217.52 0.00 0.00 0.00 0.000 0.000 0.000 3548.62 3578.12 3519.12 1725.25 2723.94 0 0 0 30.00 30.00 30.00

2326 end dive: TARGET_DEPTH_EXCEEDED

state 2326 begin apogee

2327.37 10243 0.00 -0.31 0.00 3549.6 3579.2 3520.0 1725.6 2574.2 160.54 -8.42 342 2442.09 105.62 1.53 0.08 1.339 0.143 0.239 2948.59 3016.25 2880.94 1955.44 2622.50 0 0 0 12.12 15.99 15.56

2445 end apogee: CONTROL_FINISHED_OK

state 2445 begin climb

2445.69 10759 146.63 1.26 -80.00 2947.0 3014.2 2879.8 1955.0 2623.5 162.57 0.00 353 2572.80 110.46 2.52 3.63 1.284 0.096 0.132 2327.88 2389.19 2266.56 2338.44 1190.25 0 0 0 11.96 15.57 15.32

2580.45 1028 146.63 1.26 0.00 2346.9 2428.2 2265.6 2338.6 1190.6 148.25 15.97 378 2587.92 0.00 0.00 3.40 0.000 0.000 0.059 2350.28 2431.88 2268.69 2339.25 2620.62 0 0 0 30.00 30.00 15.42

2776.22 16646 146.63 1.26 80.00 2342.7 2422.6 2262.8 2338.2 2619.7 117.96 15.09 398 2782.12 0.00 0.00 3.30 0.000 0.000 0.125 2341.69 2420.44 2262.94 2338.38 3909.44 0 0 0 30.00 30.00 15.64

2816.22 17414 146.63 1.26 0.00 2341.5 2420.1 2263.0 2339.0 3911.1 111.46 16.31 406 2822.08 0.00 0.00 3.12 0.000 0.000 0.069 2341.38 2421.12 2261.62 2338.06 2577.00 0 0 0 30.00 30.00 15.69

3006.25 16386 146.63 1.26 0.00 2342.6 2420.6 2264.5 2338.4 2575.7 82.95 14.68 426 3007.81 0.00 0.00 0.00 0.000 0.000 0.000 2338.12 2416.62 2259.62 2338.88 2575.81 0 0 0 30.00 30.00 30.00

3196.27 16646 146.63 1.26 80.00 2341.0 2419.0 2262.9 2338.8 2576.2 56.14 13.99 445 3202.23 0.00 0.00 3.35 0.000 0.000 0.119 2341.56 2421.25 2261.88 2338.50 3909.25 0 0 0 30.00 30.00 15.81

3264.69 17414 146.63 1.26 0.00 2339.6 2416.9 2262.2 2338.1 3909.2 45.89 14.70 458 3271.20 0.00 0.00 3.09 0.000 0.000 0.068 2340.88 2416.75 2265.00 2338.38 2577.75 0 0 0 30.00 30.00 15.85

3454.79 16386 146.63 1.26 0.00 2340.3 2417.8 2262.8 2338.8 2577.9 20.70 13.28 496 3459.34 0.00 0.00 0.00 0.000 0.000 0.000 2337.97 2415.38 2260.56 2338.56 2577.62 0 0 0 30.00 30.00 30.00

3639.94 10535 245.87 1.38 80.00 2338.6 2416.9 2260.3 2338.2 2578.1 4.30 5.24 533 3723.53 73.24 0.14 3.39 1.140 0.100 0.118 1946.59 2038.94 1854.25 2376.31 3910.12 0 0 0 12.05 15.93 15.62

3949.92 11303 463.30 1.65 0.00 1937.2 2023.6 1850.8 2376.3 3910.2 4.38 -0.07 594 3988.38 31.28 0.32 3.11 1.097 0.075 0.066 1779.91 1870.62 1689.19 2441.44 2574.31 0 0 0 12.14 15.78 15.79

3989 end climb: NO_VERTICAL_VELOCITY

state 3989 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	20	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	5	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	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	85	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	159.07065	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.8752	FG_AHR_24V	205.23035	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	250522,052402,4736.393,-12256.605,20,1.2,21,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,052808,4736.418,-12256.591,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	197.9,928,-17.1,-9.697,-20.82,2278,0.134
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.040420,0.006061,-0.075623,1.110009,-0.052738,0.029578,-0.018939,1.154289,-985.539612,-1070.969238,-64.723488
TGT_LATLONG	4736.000,-12257.000

NAV	1653456912,17.7,0,stop	_10V_AH	14.94,0.000
NET	CARFP,2022-05-25T05:53:31.987508,0,25,121,1,5,0,0,1;8;08197903a05000ff,1;5;ac320ec09c;1;7;cb47ef5c5707a7,*29	FG_AHR_24Vo	205.423
FREEZE	4.30,13.767,-1.437,0,1,0	FG_AHR_10Vo	159.110
SM_CCo	4228.08,224.46,1.097,0,500.4,577.9,422.8,600.89	MEM0	60132,1,0,0
SM_GC	1.26,0.00,13.90,0.44,0.000,0.056,0.086,495.3,567.8,422.9,214.0,2773.6,0,0,0,30.00,15.45,15.45	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	942840,27,103608,79
IRIDIUM_FIX	4738.33,-12256.21,250522,041010	DATA_FILE_SIZE	16136,601
TCM_TEMP	13.71	CAP_FILE_SIZE	406074,0
SC_FREEKB	3877088	SDSIZE	3918848,3881440
PM_FREEKB_00	61887040	SDFILEDIR	301,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-2	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,-0.027890,-0.002849,-0.078325,1.115509,-0.015352,0.031133,-0.052401,1.102101,-982.3,-1085.5,-27.9,34,0.0324,1
HUMID	48.73	IMPLIED_C_PITCH	2011,15.87,279,2020.3,15.87
TEMP	11.05	IMPLIED_C_VBD	3133,25.798372,279,3041.3
INTERNAL_PRESSURE	7.95298	GPS	250522,064145,4736.103,-12256.972,1,1.1,3,15.5
_24V_AH	14.95,111.139

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	662	1339	13266.17	nil	0	0	0.00
Pitch_motor	30	252	113.61	nil	0	0	0.00
Roll_motor	63	239	226.23	nil	0	0	0.00
Iridium	153	218	499.46	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	2509	5	191.96	SciCon	4002	6	382.54
Fast	0	0	0.00	PMAR	4006	17	1060.36
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1823	0	8.72
Compass	1218	5	90.98
RAFOS	371	40	221.95
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
10.98	16386	-146.63	-1.26	0.00	495.6	561.1	430.1	208.3	2723.8	0.00	0.00	0	98.61	84.15	0.00	0.00	0.005	0.000	0.000	2489.50	2489.06	2489.94	208.00	2724.06	0	0	0	15.79	30.00	30.00
98.86	18983	-146.63	-1.26	-80.00	2490.3	2490.9	2489.7	208.2	2723.4	3.08	-1.77	15	156.00	33.34	11.66	3.46	0.005	0.253	0.118	3537.97	3558.75	3517.19	1725.44	1277.25	0	0	0	15.81	15.67	15.74
169.35	1060	-146.63	-1.26	0.00	3546.8	3574.2	3519.2	1725.8	1276.8	6.89	-5.60	28	175.81	0.00	0.00	3.38	0.000	0.000	0.060	3549.16	3577.25	3521.06	1725.25	2772.81	0	0	0	30.00	30.00	15.77
358.60	292	-146.63	-1.26	80.00	3548.4	3578.4	3518.4	1726.0	2772.4	16.34	-4.40	65	364.86	0.00	0.00	2.79	0.000	0.000	0.118	3547.84	3576.94	3518.75	1725.12	3911.62	0	0	0	30.00	30.00	15.78
593.71	1060	-146.63	-1.26	0.00	3548.6	3577.4	3519.7	1724.8	3911.1	27.57	-4.64	112	599.99	0.00	0.00	2.68	0.000	0.000	0.062	3548.69	3576.56	3520.81	1725.19	2722.81	0	0	0	30.00	30.00	15.88
781.77	292	-146.63	-1.26	80.00	3549.5	3578.4	3520.6	1725.2	2723.4	37.32	-5.50	150	788.15	0.00	0.00	2.89	0.000	0.000	0.114	3548.62	3578.25	3519.00	1724.94	3911.25	0	0	0	30.00	30.00	15.88
905.73	1060	-146.63	-1.26	0.00	3549.8	3578.6	3520.9	1723.9	3911.0	46.12	-7.37	174	912.01	0.00	0.00	2.68	0.000	0.000	0.063	3549.94	3578.75	3521.12	1724.69	2723.81	0	0	0	30.00	30.00	15.93
1095.76	548	-146.63	-1.26	-80.00	3548.8	3577.6	3519.9	1725.5	2724.7	59.38	-7.07	199	1101.72	0.00	0.00	3.42	0.000	0.000	0.121	3548.72	3578.69	3518.75	1724.94	1278.81	0	0	0	30.00	30.00	15.92
1155.87	1028	-146.63	-1.26	0.00	3549.7	3579.4	3520.0	1725.4	1279.6	64.36	-8.43	211	1161.73	0.00	0.00	3.45	0.000	0.000	0.062	3521.66	3521.06	3522.25	1724.50	2768.19	0	0	0	30.00	30.00	15.97
1348.83	292	-146.63	-1.26	80.00	3550.2	3580.1	3520.2	1725.6	2768.9	78.75	-7.50	232	1354.48	0.00	0.00	2.85	0.000	0.000	0.121	3548.44	3578.00	3518.88	1725.00	3911.88	0	0	0	30.00	30.00	15.95
1413.08	1028	-146.63	-1.26	0.00	3549.2	3579.6	3518.8	1725.0	3910.5	84.41	-8.87	245	1420.18	0.00	0.00	2.71	0.000	0.000	0.065	3550.47	3579.25	3521.69	1724.94	2723.06	0	0	0	30.00	30.00	15.99
1608.83	0	-146.63	-1.26	0.00	3550.9	3579.9	3521.9	1724.8	2723.6	100.18	-8.29	265	1610.39	0.00	0.00	0.00	0.000	0.000	0.000	3549.91	3580.06	3519.75	1725.06	2723.44	0	0	0	30.00	30.00	30.00
1798.85	0	-146.63	-1.26	0.00	3549.3	3579.1	3519.4	1724.8	2724.2	115.98	-8.17	284	1800.41	0.00	0.00	0.00	0.000	0.000	0.000	3548.81	3578.56	3519.06	1724.94	2724.25	0	0	0	30.00	30.00	30.00
1985.88	260	-146.63	-1.26	80.00	3549.4	3578.7	3520.2	1724.8	2723.7	131.49	-8.58	303	1991.64	0.00	0.00	2.97	0.000	0.000	0.120	3549.97	3579.00	3520.94	1724.62	3910.94	0	0	0	30.00	30.00	15.99
2025.89	1028	-146.63	-1.26	0.00	3550.4	3579.2	3521.5	1725.0	3910.4	135.25	-9.39	311	2031.54	0.00	0.00	2.70	0.000	0.000	0.068	3550.25	3579.12	3521.38	1724.75	2724.62	0	0	0	30.00	30.00	16.02
2215.95	0	-146.63	-1.26	0.00	3549.8	3579.1	3520.4	1724.5	2724.2	151.26	-8.31	331	2217.52	0.00	0.00	0.00	0.000	0.000	0.000	3548.62	3578.12	3519.12	1725.25	2723.94	0	0	0	30.00	30.00	30.00
2326	end dive: TARGET_DEPTH_EXCEEDED
state	2326	begin apogee
2327.37	10243	0.00	-0.31	0.00	3549.6	3579.2	3520.0	1725.6	2574.2	160.54	-8.42	342	2442.09	105.62	1.53	0.08	1.339	0.143	0.239	2948.59	3016.25	2880.94	1955.44	2622.50	0	0	0	12.12	15.99	15.56
2445	end apogee: CONTROL_FINISHED_OK
state	2445	begin climb
2445.69	10759	146.63	1.26	-80.00	2947.0	3014.2	2879.8	1955.0	2623.5	162.57	0.00	353	2572.80	110.46	2.52	3.63	1.284	0.096	0.132	2327.88	2389.19	2266.56	2338.44	1190.25	0	0	0	11.96	15.57	15.32
2580.45	1028	146.63	1.26	0.00	2346.9	2428.2	2265.6	2338.6	1190.6	148.25	15.97	378	2587.92	0.00	0.00	3.40	0.000	0.000	0.059	2350.28	2431.88	2268.69	2339.25	2620.62	0	0	0	30.00	30.00	15.42
2776.22	16646	146.63	1.26	80.00	2342.7	2422.6	2262.8	2338.2	2619.7	117.96	15.09	398	2782.12	0.00	0.00	3.30	0.000	0.000	0.125	2341.69	2420.44	2262.94	2338.38	3909.44	0	0	0	30.00	30.00	15.64
2816.22	17414	146.63	1.26	0.00	2341.5	2420.1	2263.0	2339.0	3911.1	111.46	16.31	406	2822.08	0.00	0.00	3.12	0.000	0.000	0.069	2341.38	2421.12	2261.62	2338.06	2577.00	0	0	0	30.00	30.00	15.69
3006.25	16386	146.63	1.26	0.00	2342.6	2420.6	2264.5	2338.4	2575.7	82.95	14.68	426	3007.81	0.00	0.00	0.00	0.000	0.000	0.000	2338.12	2416.62	2259.62	2338.88	2575.81	0	0	0	30.00	30.00	30.00
3196.27	16646	146.63	1.26	80.00	2341.0	2419.0	2262.9	2338.8	2576.2	56.14	13.99	445	3202.23	0.00	0.00	3.35	0.000	0.000	0.119	2341.56	2421.25	2261.88	2338.50	3909.25	0	0	0	30.00	30.00	15.81
3264.69	17414	146.63	1.26	0.00	2339.6	2416.9	2262.2	2338.1	3909.2	45.89	14.70	458	3271.20	0.00	0.00	3.09	0.000	0.000	0.068	2340.88	2416.75	2265.00	2338.38	2577.75	0	0	0	30.00	30.00	15.85
3454.79	16386	146.63	1.26	0.00	2340.3	2417.8	2262.8	2338.8	2577.9	20.70	13.28	496	3459.34	0.00	0.00	0.00	0.000	0.000	0.000	2337.97	2415.38	2260.56	2338.56	2577.62	0	0	0	30.00	30.00	30.00
3639.94	10535	245.87	1.38	80.00	2338.6	2416.9	2260.3	2338.2	2578.1	4.30	5.24	533	3723.53	73.24	0.14	3.39	1.140	0.100	0.118	1946.59	2038.94	1854.25	2376.31	3910.12	0	0	0	12.05	15.93	15.62
3949.92	11303	463.30	1.65	0.00	1937.2	2023.6	1850.8	2376.3	3910.2	4.38	-0.07	594	3988.38	31.28	0.32	3.11	1.097	0.075	0.066	1779.91	1870.62	1689.19	2441.44	2574.31	0	0	0	12.14	15.78	15.79
3989	end climb: NO_VERTICAL_VELOCITY
state	3989	begin surface