Glider dive log

HoodCanal 23May22 * SG235 * Dive index * Mission links * Dive 7 * 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 18 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 7 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 7 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 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 158.36821 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.880209 FG_AHR_24V 202.44725 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 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 158.36821 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 202.44725 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.880209 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 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 -158.7531 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 18 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 7 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 7 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 230522,231446,4736.061,-12256.832,1,0.9,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,231822,4736.051,-12256.843,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 1.9,1843,-17.6,-10.000,-21.21,2209,0.150

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653350832,50.6,0,stop TEMP 10.76

MODEM_MSG CACST,8,0,20220524000500.364018,18,32767,45,0276,0000,216,02,02,00,02,1,025,121,0,5,1,0,150,-0.1,4.95,-100,-1.95,-01,-0.08,74,925,0025,0,1,00,00*1B INTERNAL_PRESSURE 7.93732

NET CACST,8,1,20220524000021.263298,06,8308,39,0152,0150,141,01,01,00,02,-1,-01,-01,1,3,11643,0,150,13.5,0.65,-100,2.35,-01,-1.46,53,10000,5000,0,-1,00,00*77 _24V_AH 14.79,108.205

NET_PING 1653349211,28,1394.017578,21.700001,0.144836 _10V_AH 14.77,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 202.634

FREEZE 1.52,15.134,-1.388,0,1,0 FG_AHR_10Vo 158.410

FINISH 1.5,1.018651 MEM0 60148,1,0,0

SM_CCo 3829.69,153.20,1.106,0,541.0,608.0,474.1,590.92 MEM1 65508,1,0,0

SM_GC 1.64,153.20,13.86,3.74,1.106,0.070,0.060,541.0,608.0,474.1,217.9,2770.8,0,0,0,11.81,15.50,15.53 MEM2 942768,27,103620,82

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16121,547

IRIDIUM_FIX 4735.53,-12254.47,230522,221756 CAP_FILE_SIZE 394528,0

TCM_TEMP 13.59 SDSIZE 3918848,3883136

SC_FREEKB 3876448 SDFILEDIR 304,3

PM_FREEKB_00 61789696 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1418.6

RAFOS_CLK 0 MAGCAL 1.000000,-0.028173,0.017871,-0.078224,1.094786,-0.000656,0.003790,-0.036701,1.195076,-1000.4,-1092.6,-96.3,36,0.0331,0

MODEM 2,1653348727,47.61200,-122.96660,127.626,186972.1 IMPLIED_C_PITCH 2010,15.92,249,2020.1,15.90

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_VBD 3146,28.687838,249,3048.0

HUMID 48.59 GPS 240522,002340,4736.381,-12256.556,6,1.0,18,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1309 12524.16 nil 0 0 0.00

Pitch_motor 30 263 116.83 nil 0 0 0.00

Roll_motor 69 240 249.19 nil 0 0 0.00

Iridium 128 209 400.41 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.03 nil 0 0 0.00

Core 2397 5 181.30 SciCon 3645 8 465.09

Fast 0 0 0.00 PMAR 3652 17 952.58

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1466 0 6.93

Compass 1118 5 82.60

RAFOS 859 40 508.05

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

10.95 16386 -146.63 -1.29 0.00 496.4 565.1 427.8 213.9 2721.2 0.00 0.00 0 83.59 69.67 0.00 0.00 0.005 0.000 0.000 2207.41 2208.56 2206.25 214.19 2723.62 0 0 0 15.71 30.00 30.00

83.84 18727 -146.63 -1.29 80.00 2206.9 2209.1 2204.8 214.1 2723.1 3.01 -2.41 13 155.13 47.78 11.62 2.99 0.005 0.263 0.123 3546.44 3573.25 3519.62 1718.44 3910.19 0 0 0 15.82 15.66 15.74

188.48 1060 -146.63 -1.29 0.00 3547.5 3574.2 3520.8 1717.8 3909.8 7.41 -7.14 33 194.70 0.00 0.00 2.76 0.000 0.000 0.065 3548.81 3574.69 3522.94 1717.75 2724.62 0 0 0 30.00 30.00 15.81

378.50 292 -146.63 -1.29 80.00 3549.5 3578.0 3521.0 1718.2 2724.7 16.97 -4.99 71 384.87 0.00 0.00 3.01 0.000 0.000 0.118 3548.75 3577.56 3519.94 1718.00 3911.25 0 0 0 30.00 30.00 15.82

553.60 1060 -146.63 -1.29 0.00 3549.9 3578.9 3520.8 1717.8 3912.2 25.37 -4.93 106 559.95 0.00 0.00 2.73 0.000 0.000 0.064 3550.66 3580.19 3521.12 1718.25 2722.94 0 0 0 30.00 30.00 15.91

741.61 548 -146.63 -1.29 -80.00 3549.6 3579.1 3520.1 1717.7 2723.4 34.69 -5.79 141 748.33 0.00 0.00 3.49 0.000 0.000 0.122 3550.03 3579.62 3520.44 1718.19 1280.00 0 0 0 30.00 30.00 15.88

826.78 1060 -146.63 -1.29 0.00 3549.6 3578.2 3521.0 1717.7 1280.1 40.78 -7.25 158 833.49 0.00 0.00 3.49 0.000 0.000 0.060 3549.47 3579.44 3519.50 1718.81 2769.81 0 0 0 30.00 30.00 15.91

1016.95 32 -146.63 -1.29 0.00 3549.7 3578.5 3520.8 1717.8 2769.6 52.82 -6.60 192 1018.51 0.00 0.00 0.00 0.000 0.000 0.000 3548.75 3577.81 3519.69 1718.44 2768.62 0 0 0 30.00 30.00 30.00

1206.97 32 -146.63 -1.29 0.00 3550.6 3580.6 3520.6 1717.6 2770.3 66.88 -7.64 211 1208.54 0.00 0.00 0.00 0.000 0.000 0.000 3548.19 3577.69 3518.69 1717.94 2769.44 0 0 0 30.00 30.00 30.00

1391.98 292 -146.63 -1.29 80.00 3548.6 3577.6 3519.6 1718.0 2770.5 80.74 -7.19 230 1397.67 0.00 0.00 2.86 0.000 0.000 0.123 3550.31 3578.94 3521.69 1718.56 3909.19 0 0 0 30.00 30.00 15.93

1456.23 1028 -146.63 -1.29 0.00 3548.8 3578.1 3519.4 1718.6 3908.3 86.75 -9.48 243 1463.36 0.00 0.00 2.73 0.000 0.000 0.067 3550.81 3579.38 3522.25 1717.56 2724.88 0 0 0 30.00 30.00 15.98

1651.99 516 -146.63 -1.29 -80.00 3549.8 3578.9 3520.7 1718.4 2724.6 103.78 -8.62 263 1658.01 0.00 0.00 3.47 0.000 0.000 0.126 3550.75 3580.69 3520.81 1717.62 1281.88 0 0 0 30.00 30.00 15.96

1676.27 1028 -146.63 -1.29 0.00 3551.7 3580.1 3523.4 1718.0 1281.9 106.23 -9.14 268 1683.74 0.00 0.00 3.47 0.000 0.000 0.064 3549.09 3578.38 3519.81 1718.25 2769.94 0 0 0 30.00 30.00 16.00

1868.54 260 -146.63 -1.29 80.00 3550.0 3578.9 3521.0 1717.9 2769.9 122.77 -8.80 287 1878.73 0.00 0.00 2.85 0.000 0.000 0.125 3549.41 3578.88 3519.94 1717.94 3909.62 0 0 0 30.00 30.00 15.96

1911.50 1028 -146.63 -1.29 0.00 3549.6 3578.3 3520.9 1718.8 3909.4 127.43 -9.45 296 1918.63 0.00 0.00 2.71 0.000 0.000 0.067 3549.88 3579.25 3520.50 1718.69 2725.44 0 0 0 30.00 30.00 16.01

2107 end dive: HALF_MISSION_TIME_EXCEEDED

state 2107 begin apogee

2108.75 10243 0.00 -0.31 0.00 3549.7 3578.8 3520.6 1718.2 2572.8 144.18 -8.66 316 2223.43 105.76 1.59 0.08 1.309 0.143 0.241 2951.81 3018.06 2885.56 1956.12 2624.31 0 0 0 12.18 15.99 15.55

2234 end apogee: CONTROL_FINISHED_OK

state 2234 begin climb

2235.02 10243 146.63 1.29 0.00 2946.8 3012.8 2880.9 1956.9 2624.3 146.35 0.00 327 2356.04 109.57 2.57 0.00 1.261 0.094 0.000 2350.97 2432.94 2269.00 2346.94 2624.94 0 0 0 11.92 15.60 30.00

2544.12 16646 146.63 1.29 80.00 2343.1 2421.3 2264.8 2347.1 2623.3 104.29 15.45 358 2550.01 0.00 0.00 3.27 0.000 0.000 0.118 2342.81 2420.44 2265.19 2347.25 3910.56 0 0 0 30.00 30.00 15.61

2568.39 17414 146.63 1.29 0.00 2342.3 2420.0 2264.7 2347.7 3911.2 100.23 16.26 363 2575.70 0.00 0.00 3.12 0.000 0.000 0.069 2344.22 2420.50 2267.94 2346.75 2578.88 0 0 0 30.00 30.00 15.66

2764.16 16646 146.63 1.29 80.00 2341.4 2418.8 2264.1 2347.8 2577.7 70.69 14.89 383 2770.11 0.00 0.00 3.35 0.000 0.000 0.122 2342.03 2419.12 2264.94 2348.25 3909.12 0 0 0 30.00 30.00 15.72

2814.16 17414 146.63 1.29 0.00 2340.9 2417.6 2264.2 2347.8 3909.4 62.71 15.84 393 2819.97 0.00 0.00 3.10 0.000 0.000 0.069 2340.09 2415.94 2264.25 2346.81 2576.50 0 0 0 30.00 30.00 15.77

3004.20 16646 146.63 1.29 80.00 2340.4 2416.7 2264.1 2347.1 2577.6 34.76 14.51 423 3010.89 0.00 0.00 3.35 0.000 0.000 0.122 2340.56 2418.12 2263.00 2347.69 3910.50 0 0 0 30.00 30.00 15.80

3034.27 17414 146.63 1.29 0.00 2339.7 2415.1 2264.2 2347.4 3909.9 30.15 15.55 429 3040.80 0.00 0.00 3.09 0.000 0.000 0.069 2340.97 2415.62 2266.31 2347.44 2575.75 0 0 0 30.00 30.00 15.84

3221.64 16646 146.63 1.29 80.00 2339.7 2414.8 2264.7 2347.8 2575.9 7.11 9.85 466 3228.22 0.00 0.00 3.29 0.000 0.000 0.121 2337.50 2413.44 2261.56 2347.38 3908.81 0 0 0 30.00 30.00 15.85

3246.67 17414 146.63 1.29 0.00 2338.7 2413.9 2263.5 2347.9 3908.6 4.75 9.38 471 3253.14 0.00 0.00 3.08 0.000 0.000 0.068 2338.59 2415.25 2261.94 2347.62 2575.69 0 0 0 30.00 30.00 15.89

3436.76 10791 370.95 1.56 -80.00 2338.3 2414.0 2262.6 2347.2 2576.1 3.57 -0.39 509 3611.82 160.71 0.38 3.54 1.126 0.075 0.136 1437.84 1532.12 1343.56 2421.88 1187.88 0 0 0 12.12 15.91 15.41

3615 end climb: SURFACE_DEPTH_REACHED

state 3615 begin surface coast

3635 end surface coast: NO_VERTICAL_VELOCITY

state 3635 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	18	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	7	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	7	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	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	158.36821	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.880209	FG_AHR_24V	202.44725	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	230522,231446,4736.061,-12256.832,1,0.9,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,231822,4736.051,-12256.843,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	1.9,1843,-17.6,-10.000,-21.21,2209,0.150
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4737.000,-12256.400

NAV	1653350832,50.6,0,stop	TEMP	10.76
MODEM_MSG	CACST,8,0,20220524000500.364018,18,32767,45,0276,0000,216,02,02,00,02,1,025,121,0,5,1,0,150,-0.1,4.95,-100,-1.95,-01,-0.08,74,925,0025,0,1,00,00*1B	INTERNAL_PRESSURE	7.93732
NET	CACST,8,1,20220524000021.263298,06,8308,39,0152,0150,141,01,01,00,02,-1,-01,-01,1,3,11643,0,150,13.5,0.65,-100,2.35,-01,-1.46,53,10000,5000,0,-1,00,00*77	_24V_AH	14.79,108.205
NET_PING	1653349211,28,1394.017578,21.700001,0.144836	_10V_AH	14.77,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	202.634
FREEZE	1.52,15.134,-1.388,0,1,0	FG_AHR_10Vo	158.410
FINISH	1.5,1.018651	MEM0	60148,1,0,0
SM_CCo	3829.69,153.20,1.106,0,541.0,608.0,474.1,590.92	MEM1	65508,1,0,0
SM_GC	1.64,153.20,13.86,3.74,1.106,0.070,0.060,541.0,608.0,474.1,217.9,2770.8,0,0,0,11.81,15.50,15.53	MEM2	942768,27,103620,82
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16121,547
IRIDIUM_FIX	4735.53,-12254.47,230522,221756	CAP_FILE_SIZE	394528,0
TCM_TEMP	13.59	SDSIZE	3918848,3883136
SC_FREEKB	3876448	SDFILEDIR	304,3
PM_FREEKB_00	61789696	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1418.6
RAFOS_CLK	0	MAGCAL	1.000000,-0.028173,0.017871,-0.078224,1.094786,-0.000656,0.003790,-0.036701,1.195076,-1000.4,-1092.6,-96.3,36,0.0331,0
MODEM	2,1653348727,47.61200,-122.96660,127.626,186972.1	IMPLIED_C_PITCH	2010,15.92,249,2020.1,15.90
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_VBD	3146,28.687838,249,3048.0
HUMID	48.59	GPS	240522,002340,4736.381,-12256.556,6,1.0,18,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1309	12524.16	nil	0	0	0.00
Pitch_motor	30	263	116.83	nil	0	0	0.00
Roll_motor	69	240	249.19	nil	0	0	0.00
Iridium	128	209	400.41	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.03	nil	0	0	0.00
Core	2397	5	181.30	SciCon	3645	8	465.09
Fast	0	0	0.00	PMAR	3652	17	952.58
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1466	0	6.93
Compass	1118	5	82.60
RAFOS	859	40	508.05
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
10.95	16386	-146.63	-1.29	0.00	496.4	565.1	427.8	213.9	2721.2	0.00	0.00	0	83.59	69.67	0.00	0.00	0.005	0.000	0.000	2207.41	2208.56	2206.25	214.19	2723.62	0	0	0	15.71	30.00	30.00
83.84	18727	-146.63	-1.29	80.00	2206.9	2209.1	2204.8	214.1	2723.1	3.01	-2.41	13	155.13	47.78	11.62	2.99	0.005	0.263	0.123	3546.44	3573.25	3519.62	1718.44	3910.19	0	0	0	15.82	15.66	15.74
188.48	1060	-146.63	-1.29	0.00	3547.5	3574.2	3520.8	1717.8	3909.8	7.41	-7.14	33	194.70	0.00	0.00	2.76	0.000	0.000	0.065	3548.81	3574.69	3522.94	1717.75	2724.62	0	0	0	30.00	30.00	15.81
378.50	292	-146.63	-1.29	80.00	3549.5	3578.0	3521.0	1718.2	2724.7	16.97	-4.99	71	384.87	0.00	0.00	3.01	0.000	0.000	0.118	3548.75	3577.56	3519.94	1718.00	3911.25	0	0	0	30.00	30.00	15.82
553.60	1060	-146.63	-1.29	0.00	3549.9	3578.9	3520.8	1717.8	3912.2	25.37	-4.93	106	559.95	0.00	0.00	2.73	0.000	0.000	0.064	3550.66	3580.19	3521.12	1718.25	2722.94	0	0	0	30.00	30.00	15.91
741.61	548	-146.63	-1.29	-80.00	3549.6	3579.1	3520.1	1717.7	2723.4	34.69	-5.79	141	748.33	0.00	0.00	3.49	0.000	0.000	0.122	3550.03	3579.62	3520.44	1718.19	1280.00	0	0	0	30.00	30.00	15.88
826.78	1060	-146.63	-1.29	0.00	3549.6	3578.2	3521.0	1717.7	1280.1	40.78	-7.25	158	833.49	0.00	0.00	3.49	0.000	0.000	0.060	3549.47	3579.44	3519.50	1718.81	2769.81	0	0	0	30.00	30.00	15.91
1016.95	32	-146.63	-1.29	0.00	3549.7	3578.5	3520.8	1717.8	2769.6	52.82	-6.60	192	1018.51	0.00	0.00	0.00	0.000	0.000	0.000	3548.75	3577.81	3519.69	1718.44	2768.62	0	0	0	30.00	30.00	30.00
1206.97	32	-146.63	-1.29	0.00	3550.6	3580.6	3520.6	1717.6	2770.3	66.88	-7.64	211	1208.54	0.00	0.00	0.00	0.000	0.000	0.000	3548.19	3577.69	3518.69	1717.94	2769.44	0	0	0	30.00	30.00	30.00
1391.98	292	-146.63	-1.29	80.00	3548.6	3577.6	3519.6	1718.0	2770.5	80.74	-7.19	230	1397.67	0.00	0.00	2.86	0.000	0.000	0.123	3550.31	3578.94	3521.69	1718.56	3909.19	0	0	0	30.00	30.00	15.93
1456.23	1028	-146.63	-1.29	0.00	3548.8	3578.1	3519.4	1718.6	3908.3	86.75	-9.48	243	1463.36	0.00	0.00	2.73	0.000	0.000	0.067	3550.81	3579.38	3522.25	1717.56	2724.88	0	0	0	30.00	30.00	15.98
1651.99	516	-146.63	-1.29	-80.00	3549.8	3578.9	3520.7	1718.4	2724.6	103.78	-8.62	263	1658.01	0.00	0.00	3.47	0.000	0.000	0.126	3550.75	3580.69	3520.81	1717.62	1281.88	0	0	0	30.00	30.00	15.96
1676.27	1028	-146.63	-1.29	0.00	3551.7	3580.1	3523.4	1718.0	1281.9	106.23	-9.14	268	1683.74	0.00	0.00	3.47	0.000	0.000	0.064	3549.09	3578.38	3519.81	1718.25	2769.94	0	0	0	30.00	30.00	16.00
1868.54	260	-146.63	-1.29	80.00	3550.0	3578.9	3521.0	1717.9	2769.9	122.77	-8.80	287	1878.73	0.00	0.00	2.85	0.000	0.000	0.125	3549.41	3578.88	3519.94	1717.94	3909.62	0	0	0	30.00	30.00	15.96
1911.50	1028	-146.63	-1.29	0.00	3549.6	3578.3	3520.9	1718.8	3909.4	127.43	-9.45	296	1918.63	0.00	0.00	2.71	0.000	0.000	0.067	3549.88	3579.25	3520.50	1718.69	2725.44	0	0	0	30.00	30.00	16.01
2107	end dive: HALF_MISSION_TIME_EXCEEDED
state	2107	begin apogee
2108.75	10243	0.00	-0.31	0.00	3549.7	3578.8	3520.6	1718.2	2572.8	144.18	-8.66	316	2223.43	105.76	1.59	0.08	1.309	0.143	0.241	2951.81	3018.06	2885.56	1956.12	2624.31	0	0	0	12.18	15.99	15.55
2234	end apogee: CONTROL_FINISHED_OK
state	2234	begin climb
2235.02	10243	146.63	1.29	0.00	2946.8	3012.8	2880.9	1956.9	2624.3	146.35	0.00	327	2356.04	109.57	2.57	0.00	1.261	0.094	0.000	2350.97	2432.94	2269.00	2346.94	2624.94	0	0	0	11.92	15.60	30.00
2544.12	16646	146.63	1.29	80.00	2343.1	2421.3	2264.8	2347.1	2623.3	104.29	15.45	358	2550.01	0.00	0.00	3.27	0.000	0.000	0.118	2342.81	2420.44	2265.19	2347.25	3910.56	0	0	0	30.00	30.00	15.61
2568.39	17414	146.63	1.29	0.00	2342.3	2420.0	2264.7	2347.7	3911.2	100.23	16.26	363	2575.70	0.00	0.00	3.12	0.000	0.000	0.069	2344.22	2420.50	2267.94	2346.75	2578.88	0	0	0	30.00	30.00	15.66
2764.16	16646	146.63	1.29	80.00	2341.4	2418.8	2264.1	2347.8	2577.7	70.69	14.89	383	2770.11	0.00	0.00	3.35	0.000	0.000	0.122	2342.03	2419.12	2264.94	2348.25	3909.12	0	0	0	30.00	30.00	15.72
2814.16	17414	146.63	1.29	0.00	2340.9	2417.6	2264.2	2347.8	3909.4	62.71	15.84	393	2819.97	0.00	0.00	3.10	0.000	0.000	0.069	2340.09	2415.94	2264.25	2346.81	2576.50	0	0	0	30.00	30.00	15.77
3004.20	16646	146.63	1.29	80.00	2340.4	2416.7	2264.1	2347.1	2577.6	34.76	14.51	423	3010.89	0.00	0.00	3.35	0.000	0.000	0.122	2340.56	2418.12	2263.00	2347.69	3910.50	0	0	0	30.00	30.00	15.80
3034.27	17414	146.63	1.29	0.00	2339.7	2415.1	2264.2	2347.4	3909.9	30.15	15.55	429	3040.80	0.00	0.00	3.09	0.000	0.000	0.069	2340.97	2415.62	2266.31	2347.44	2575.75	0	0	0	30.00	30.00	15.84
3221.64	16646	146.63	1.29	80.00	2339.7	2414.8	2264.7	2347.8	2575.9	7.11	9.85	466	3228.22	0.00	0.00	3.29	0.000	0.000	0.121	2337.50	2413.44	2261.56	2347.38	3908.81	0	0	0	30.00	30.00	15.85
3246.67	17414	146.63	1.29	0.00	2338.7	2413.9	2263.5	2347.9	3908.6	4.75	9.38	471	3253.14	0.00	0.00	3.08	0.000	0.000	0.068	2338.59	2415.25	2261.94	2347.62	2575.69	0	0	0	30.00	30.00	15.89
3436.76	10791	370.95	1.56	-80.00	2338.3	2414.0	2262.6	2347.2	2576.1	3.57	-0.39	509	3611.82	160.71	0.38	3.54	1.126	0.075	0.136	1437.84	1532.12	1343.56	2421.88	1187.88	0	0	0	12.12	15.91	15.41
3615	end climb: SURFACE_DEPTH_REACHED
state	3615	begin surface coast
3635	end surface coast: NO_VERTICAL_VELOCITY
state	3635	begin surface