Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 8 * 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 8 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 159.18446 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.828073 FG_AHR_24V 205.83943 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 159.18446 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 205.83943 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.828073 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 8 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 250522,091539,4736.853,-12256.430,2,1.3,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 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 250522,091943,4736.900,-12256.384,2,1.3,5,15.5 MHEAD_RNG_PITCHd_Wd 189.3,1837,-17.1,-9.697,-20.82,2278,0.139

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,-0.020484,0.020678,-0.070769,1.109790,-0.005205,0.024548,-0.024885,1.095297,-1006.469543,-1096.399780,-34.233189

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,0,20220525100332.121025,06,5467,37,0126,0150,22,01,01,00,01,1,025,121,0,5,2,0,150,14.1,3.86,-100,-0.86,-01,-0.07,42,10000,5000,0,5,00,00*64 _10V_AH 14.75,0.000

FREEZE 1.54,14.079,-1.413,0,1,0 FG_AHR_24Vo 206.029

FINISH 1.5,1.019202 FG_AHR_10Vo 159.220

SM_CCo 4075.13,153.98,1.105,0,541.7,606.8,476.6,590.75 MEM0 60132,1,0,0

SM_GC 1.45,153.98,13.94,0.44,1.105,0.072,0.084,541.7,606.8,476.6,215.4,2773.4,0,0,0,11.78,15.45,15.48 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 942812,27,103636,79

IRIDIUM_FIX 4736.00,-12258.89,250522,080105 DATA_FILE_SIZE 16175,596

TCM_TEMP 13.32 CAP_FILE_SIZE 385323,0

SC_FREEKB 3876128 SDSIZE 3918848,3880416

PM_FREEKB_00 61608704 SDFILEDIR 328,3

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

RAFOS_CLK -10 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,-0.019710,0.021039,-0.063440,1.095625,0.010264,0.018092,-0.010210,1.114384,-1007.1,-1110.7,-55.4,36,0.0250,1

HUMID 48.65 IMPLIED_C_PITCH 2013,15.90,278,2021.7,15.86

TEMP 10.31 IMPLIED_C_VBD 3121,23.344206,278,3035.6

INTERNAL_PRESSURE 7.91435 GPS 250522,102910,4736.796,-12256.467,19,1.8,21,15.5

_24V_AH 14.77,111.807

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 644 1344 12811.90 nil 0 0 0.00

Pitch_motor 30 256 114.55 nil 0 0 0.00

Roll_motor 49 243 179.48 nil 0 0 0.00

Iridium 153 228 517.20 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 2501 5 188.91 SciCon 3898 6 375.27

Fast 0 0 0.00 PMAR 3903 17 1021.45

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1639 0 7.74

Compass 1199 5 88.46

RAFOS 0 0 0.00

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

10.96 16386 -146.63 -1.26 0.00 537.5 598.6 476.4 211.8 2725.8 0.00 0.00 0 100.36 85.87 0.00 0.00 0.005 0.000 0.000 2577.81 2579.94 2575.69 211.62 2726.56 0 0 0 15.73 30.00 30.00

100.61 18983 -146.63 -1.26 -80.00 2576.2 2577.9 2574.4 211.8 2726.0 3.36 -2.35 17 156.53 28.51 11.83 3.51 0.006 0.256 0.120 3546.66 3572.00 3521.31 1725.12 1281.69 0 0 0 15.79 15.64 15.71

382.59 1060 -146.63 -1.26 0.00 3548.3 3575.8 3520.9 1724.3 1281.6 21.86 -5.73 72 389.10 0.00 0.00 3.47 0.000 0.000 0.061 3547.97 3576.25 3519.69 1724.50 2767.50 0 0 0 30.00 30.00 15.84

572.71 292 -146.63 -1.26 80.00 3549.3 3577.6 3521.1 1724.4 2768.1 31.01 -5.47 110 579.11 0.00 0.00 2.86 0.000 0.000 0.120 3549.03 3577.25 3520.81 1725.31 3909.62 0 0 0 30.00 30.00 15.85

805.70 1060 -146.63 -1.26 0.00 3548.8 3576.6 3520.9 1725.3 3911.4 47.18 -7.54 156 812.05 0.00 0.00 2.72 0.000 0.000 0.064 3549.69 3577.38 3522.00 1725.12 2724.75 0 0 0 30.00 30.00 15.92

995.74 292 -146.63 -1.26 80.00 3549.7 3577.8 3521.6 1725.2 2724.8 60.56 -7.13 179 1001.45 0.00 0.00 2.98 0.000 0.000 0.116 3549.47 3577.88 3521.06 1725.62 3910.38 0 0 0 30.00 30.00 15.91

1230.04 1028 -146.63 -1.26 0.00 3549.8 3578.0 3521.6 1725.1 3910.2 80.23 -8.45 226 1237.14 0.00 0.00 2.73 0.000 0.000 0.066 3551.34 3579.31 3523.38 1724.81 2724.81 0 0 0 30.00 30.00 15.97

1425.79 260 -146.63 -1.26 80.00 3548.8 3577.7 3519.9 1725.5 2725.4 95.72 -7.99 246 1431.56 0.00 0.00 2.96 0.000 0.000 0.118 3549.16 3577.50 3520.81 1725.19 3909.94 0 0 0 30.00 30.00 15.95

1560.11 1028 -146.63 -1.26 0.00 3548.1 3577.1 3519.0 1724.9 3910.9 107.77 -9.01 273 1567.17 0.00 0.00 2.70 0.000 0.000 0.068 3549.75 3578.44 3521.06 1724.88 2725.19 0 0 0 30.00 30.00 15.98

1755.86 0 -146.63 -1.26 0.00 3549.6 3578.5 3520.7 1724.9 2725.2 123.30 -8.32 293 1757.42 0.00 0.00 0.00 0.000 0.000 0.000 3548.09 3576.62 3519.56 1724.69 2725.12 0 0 0 30.00 30.00 30.00

1940.88 0 -146.63 -1.26 0.00 3551.0 3580.3 3521.7 1725.5 2726.1 138.12 -7.78 312 1942.45 0.00 0.00 0.00 0.000 0.000 0.000 3549.34 3578.06 3520.62 1725.12 2725.00 0 0 0 30.00 30.00 30.00

2130.91 260 -146.63 -1.26 80.00 3548.7 3577.4 3519.9 1724.9 2726.9 154.21 -8.50 331 2136.66 0.00 0.00 2.98 0.000 0.000 0.123 3552.34 3581.31 3523.38 1724.56 3911.12 0 0 0 30.00 30.00 15.98

2170.93 1028 -146.63 -1.26 0.00 3549.8 3579.5 3520.1 1725.3 3910.2 157.90 -9.21 339 2176.59 0.00 0.00 2.70 0.000 0.000 0.069 3548.88 3577.25 3520.50 1724.38 2726.50 0 0 0 30.00 30.00 16.02

2201 end dive: TARGET_DEPTH_EXCEEDED

state 2201 begin apogee

2202.37 10243 0.00 -0.32 0.00 3549.5 3577.5 3521.5 1725.1 2576.0 160.52 -8.81 343 2317.09 105.85 1.55 0.08 1.345 0.140 0.244 2949.66 3017.62 2881.69 1954.94 2622.69 0 0 0 12.12 15.98 15.55

2320 end apogee: CONTROL_FINISHED_OK

state 2320 begin climb

2321.01 10243 146.63 1.26 0.00 2946.7 3013.8 2879.6 1955.4 2623.9 162.52 0.00 354 2441.34 110.28 2.56 0.00 1.286 0.094 0.000 2350.16 2433.81 2266.50 2338.81 2623.00 0 0 0 11.97 15.56 30.00

2624.71 16646 146.63 1.26 80.00 2342.8 2422.8 2262.8 2339.3 2623.7 122.84 15.20 385 2630.74 0.00 0.00 3.30 0.000 0.000 0.119 2342.22 2422.88 2261.56 2339.62 3907.38 0 0 0 30.00 30.00 15.61

2664.73 17414 146.63 1.26 0.00 2341.4 2419.9 2262.8 2339.8 3908.6 116.56 15.60 393 2670.58 0.00 0.00 3.12 0.000 0.000 0.069 2340.03 2418.94 2261.12 2339.94 2577.12 0 0 0 30.00 30.00 15.67

2854.75 16386 146.63 1.26 0.00 2341.2 2420.2 2262.1 2339.2 2576.7 88.12 14.76 413 2856.32 0.00 0.00 0.00 0.000 0.000 0.000 2337.88 2417.00 2258.75 2339.69 2577.12 0 0 0 30.00 30.00 30.00

3040.82 16646 146.63 1.26 80.00 2340.4 2419.3 2261.6 2340.0 2577.6 61.56 13.97 432 3046.73 0.00 0.00 3.38 0.000 0.000 0.120 2339.19 2417.06 2261.31 2339.38 3912.44 0 0 0 30.00 30.00 15.80

3100.80 17414 146.63 1.26 0.00 2339.0 2416.4 2261.6 2339.4 3911.7 52.87 14.48 444 3106.59 0.00 0.00 3.10 0.000 0.000 0.069 2341.25 2417.69 2264.81 2339.00 2578.88 0 0 0 30.00 30.00 15.84

3288.69 16386 146.63 1.26 0.00 2340.2 2418.1 2262.2 2339.7 2577.1 27.67 13.06 479 3293.24 0.00 0.00 0.00 0.000 0.000 0.000 2338.19 2415.94 2260.44 2340.44 2577.69 0 0 0 30.00 30.00 30.00

3473.81 16646 146.63 1.26 80.00 2339.8 2417.9 2261.6 2339.8 2578.4 6.47 9.06 516 3480.42 0.00 0.00 3.35 0.000 0.000 0.119 2338.72 2415.88 2261.56 2340.38 3909.56 0 0 0 30.00 30.00 15.88

3708.99 11303 370.10 1.54 0.00 2337.1 2413.0 2261.2 2339.0 3910.1 5.53 -0.34 563 3881.73 160.50 0.38 3.09 1.133 0.074 0.066 1442.09 1536.81 1347.38 2411.25 2574.00 0 0 0 12.18 15.93 15.94

3882 end climb: SURFACE_DEPTH_REACHED

state 3882 begin surface coast

3885 end surface coast: CONTROL_FINISHED_OK

state 3885 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	8	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	159.18446	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.828073	FG_AHR_24V	205.83943	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	250522,091539,4736.853,-12256.430,2,1.3,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	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	250522,091943,4736.900,-12256.384,2,1.3,5,15.5	MHEAD_RNG_PITCHd_Wd	189.3,1837,-17.1,-9.697,-20.82,2278,0.139
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.020484,0.020678,-0.070769,1.109790,-0.005205,0.024548,-0.024885,1.095297,-1006.469543,-1096.399780,-34.233189
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,0,20220525100332.121025,06,5467,37,0126,0150,22,01,01,00,01,1,025,121,0,5,2,0,150,14.1,3.86,-100,-0.86,-01,-0.07,42,10000,5000,0,5,00,00*64	_10V_AH	14.75,0.000
FREEZE	1.54,14.079,-1.413,0,1,0	FG_AHR_24Vo	206.029
FINISH	1.5,1.019202	FG_AHR_10Vo	159.220
SM_CCo	4075.13,153.98,1.105,0,541.7,606.8,476.6,590.75	MEM0	60132,1,0,0
SM_GC	1.45,153.98,13.94,0.44,1.105,0.072,0.084,541.7,606.8,476.6,215.4,2773.4,0,0,0,11.78,15.45,15.48	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	942812,27,103636,79
IRIDIUM_FIX	4736.00,-12258.89,250522,080105	DATA_FILE_SIZE	16175,596
TCM_TEMP	13.32	CAP_FILE_SIZE	385323,0
SC_FREEKB	3876128	SDSIZE	3918848,3880416
PM_FREEKB_00	61608704	SDFILEDIR	328,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-10	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,-0.019710,0.021039,-0.063440,1.095625,0.010264,0.018092,-0.010210,1.114384,-1007.1,-1110.7,-55.4,36,0.0250,1
HUMID	48.65	IMPLIED_C_PITCH	2013,15.90,278,2021.7,15.86
TEMP	10.31	IMPLIED_C_VBD	3121,23.344206,278,3035.6
INTERNAL_PRESSURE	7.91435	GPS	250522,102910,4736.796,-12256.467,19,1.8,21,15.5
_24V_AH	14.77,111.807

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	644	1344	12811.90	nil	0	0	0.00
Pitch_motor	30	256	114.55	nil	0	0	0.00
Roll_motor	49	243	179.48	nil	0	0	0.00
Iridium	153	228	517.20	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	2501	5	188.91	SciCon	3898	6	375.27
Fast	0	0	0.00	PMAR	3903	17	1021.45
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1639	0	7.74
Compass	1199	5	88.46
RAFOS	0	0	0.00
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
10.96	16386	-146.63	-1.26	0.00	537.5	598.6	476.4	211.8	2725.8	0.00	0.00	0	100.36	85.87	0.00	0.00	0.005	0.000	0.000	2577.81	2579.94	2575.69	211.62	2726.56	0	0	0	15.73	30.00	30.00
100.61	18983	-146.63	-1.26	-80.00	2576.2	2577.9	2574.4	211.8	2726.0	3.36	-2.35	17	156.53	28.51	11.83	3.51	0.006	0.256	0.120	3546.66	3572.00	3521.31	1725.12	1281.69	0	0	0	15.79	15.64	15.71
382.59	1060	-146.63	-1.26	0.00	3548.3	3575.8	3520.9	1724.3	1281.6	21.86	-5.73	72	389.10	0.00	0.00	3.47	0.000	0.000	0.061	3547.97	3576.25	3519.69	1724.50	2767.50	0	0	0	30.00	30.00	15.84
572.71	292	-146.63	-1.26	80.00	3549.3	3577.6	3521.1	1724.4	2768.1	31.01	-5.47	110	579.11	0.00	0.00	2.86	0.000	0.000	0.120	3549.03	3577.25	3520.81	1725.31	3909.62	0	0	0	30.00	30.00	15.85
805.70	1060	-146.63	-1.26	0.00	3548.8	3576.6	3520.9	1725.3	3911.4	47.18	-7.54	156	812.05	0.00	0.00	2.72	0.000	0.000	0.064	3549.69	3577.38	3522.00	1725.12	2724.75	0	0	0	30.00	30.00	15.92
995.74	292	-146.63	-1.26	80.00	3549.7	3577.8	3521.6	1725.2	2724.8	60.56	-7.13	179	1001.45	0.00	0.00	2.98	0.000	0.000	0.116	3549.47	3577.88	3521.06	1725.62	3910.38	0	0	0	30.00	30.00	15.91
1230.04	1028	-146.63	-1.26	0.00	3549.8	3578.0	3521.6	1725.1	3910.2	80.23	-8.45	226	1237.14	0.00	0.00	2.73	0.000	0.000	0.066	3551.34	3579.31	3523.38	1724.81	2724.81	0	0	0	30.00	30.00	15.97
1425.79	260	-146.63	-1.26	80.00	3548.8	3577.7	3519.9	1725.5	2725.4	95.72	-7.99	246	1431.56	0.00	0.00	2.96	0.000	0.000	0.118	3549.16	3577.50	3520.81	1725.19	3909.94	0	0	0	30.00	30.00	15.95
1560.11	1028	-146.63	-1.26	0.00	3548.1	3577.1	3519.0	1724.9	3910.9	107.77	-9.01	273	1567.17	0.00	0.00	2.70	0.000	0.000	0.068	3549.75	3578.44	3521.06	1724.88	2725.19	0	0	0	30.00	30.00	15.98
1755.86	0	-146.63	-1.26	0.00	3549.6	3578.5	3520.7	1724.9	2725.2	123.30	-8.32	293	1757.42	0.00	0.00	0.00	0.000	0.000	0.000	3548.09	3576.62	3519.56	1724.69	2725.12	0	0	0	30.00	30.00	30.00
1940.88	0	-146.63	-1.26	0.00	3551.0	3580.3	3521.7	1725.5	2726.1	138.12	-7.78	312	1942.45	0.00	0.00	0.00	0.000	0.000	0.000	3549.34	3578.06	3520.62	1725.12	2725.00	0	0	0	30.00	30.00	30.00
2130.91	260	-146.63	-1.26	80.00	3548.7	3577.4	3519.9	1724.9	2726.9	154.21	-8.50	331	2136.66	0.00	0.00	2.98	0.000	0.000	0.123	3552.34	3581.31	3523.38	1724.56	3911.12	0	0	0	30.00	30.00	15.98
2170.93	1028	-146.63	-1.26	0.00	3549.8	3579.5	3520.1	1725.3	3910.2	157.90	-9.21	339	2176.59	0.00	0.00	2.70	0.000	0.000	0.069	3548.88	3577.25	3520.50	1724.38	2726.50	0	0	0	30.00	30.00	16.02
2201	end dive: TARGET_DEPTH_EXCEEDED
state	2201	begin apogee
2202.37	10243	0.00	-0.32	0.00	3549.5	3577.5	3521.5	1725.1	2576.0	160.52	-8.81	343	2317.09	105.85	1.55	0.08	1.345	0.140	0.244	2949.66	3017.62	2881.69	1954.94	2622.69	0	0	0	12.12	15.98	15.55
2320	end apogee: CONTROL_FINISHED_OK
state	2320	begin climb
2321.01	10243	146.63	1.26	0.00	2946.7	3013.8	2879.6	1955.4	2623.9	162.52	0.00	354	2441.34	110.28	2.56	0.00	1.286	0.094	0.000	2350.16	2433.81	2266.50	2338.81	2623.00	0	0	0	11.97	15.56	30.00
2624.71	16646	146.63	1.26	80.00	2342.8	2422.8	2262.8	2339.3	2623.7	122.84	15.20	385	2630.74	0.00	0.00	3.30	0.000	0.000	0.119	2342.22	2422.88	2261.56	2339.62	3907.38	0	0	0	30.00	30.00	15.61
2664.73	17414	146.63	1.26	0.00	2341.4	2419.9	2262.8	2339.8	3908.6	116.56	15.60	393	2670.58	0.00	0.00	3.12	0.000	0.000	0.069	2340.03	2418.94	2261.12	2339.94	2577.12	0	0	0	30.00	30.00	15.67
2854.75	16386	146.63	1.26	0.00	2341.2	2420.2	2262.1	2339.2	2576.7	88.12	14.76	413	2856.32	0.00	0.00	0.00	0.000	0.000	0.000	2337.88	2417.00	2258.75	2339.69	2577.12	0	0	0	30.00	30.00	30.00
3040.82	16646	146.63	1.26	80.00	2340.4	2419.3	2261.6	2340.0	2577.6	61.56	13.97	432	3046.73	0.00	0.00	3.38	0.000	0.000	0.120	2339.19	2417.06	2261.31	2339.38	3912.44	0	0	0	30.00	30.00	15.80
3100.80	17414	146.63	1.26	0.00	2339.0	2416.4	2261.6	2339.4	3911.7	52.87	14.48	444	3106.59	0.00	0.00	3.10	0.000	0.000	0.069	2341.25	2417.69	2264.81	2339.00	2578.88	0	0	0	30.00	30.00	15.84
3288.69	16386	146.63	1.26	0.00	2340.2	2418.1	2262.2	2339.7	2577.1	27.67	13.06	479	3293.24	0.00	0.00	0.00	0.000	0.000	0.000	2338.19	2415.94	2260.44	2340.44	2577.69	0	0	0	30.00	30.00	30.00
3473.81	16646	146.63	1.26	80.00	2339.8	2417.9	2261.6	2339.8	2578.4	6.47	9.06	516	3480.42	0.00	0.00	3.35	0.000	0.000	0.119	2338.72	2415.88	2261.56	2340.38	3909.56	0	0	0	30.00	30.00	15.88
3708.99	11303	370.10	1.54	0.00	2337.1	2413.0	2261.2	2339.0	3910.1	5.53	-0.34	563	3881.73	160.50	0.38	3.09	1.133	0.074	0.066	1442.09	1536.81	1347.38	2411.25	2574.00	0	0	0	12.18	15.93	15.94
3882	end climb: SURFACE_DEPTH_REACHED
state	3882	begin surface coast
3885	end surface coast: CONTROL_FINISHED_OK
state	3885	begin surface