Glider dive log

HoodCanal May22 * 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 14 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 8 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 8 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 165 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 1

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 0 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 65 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 400 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 2 SEABIRD_T_G 0.004415411

USE_BATHY 0 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 157.01561 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 19.949879 FG_AHR_24V 196.71039 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 -158.77972 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 400 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 157.01561 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 196.71039 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 19.949879 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 65

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 1 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 2

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.77972 T_TURN 225

C_VBD 2950 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY 0

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 2 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 14 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 165 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 8 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 200522,220609,4736.356,-12256.838,17,1.1,18,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200522,221010,4736.342,-12256.876,3,1.1,6,15.5 MHEAD_RNG_PITCHd_Wd 178.3,652,-21.5,-10.000,-24.71,1527,0.132

SPEED_LIMITS 0.173,0.258 D_GRID 150

TGT_NAME S IRON 1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220520225211.381262,06,3670,35,0100,0150,37,02,02,00,02,-1,-01,-01,1,3,10619,0,150,-2.4,0.57,-100,2.43,-01,-2.30,64,10000,5000,0,-1,00,00*51 _10V_AH 14.66,0.000

NAV 1653087859,0.3,start FG_AHR_24Vo 196.902

NET_PING 1653086409,45,767.719482,0.400000,-1.016014 FG_AHR_10Vo 157.045

FREEZE 0.23,11.470,-1.537,0,1,0 MEM0 60148,1,0,0

FINISH 0.2,1.021413 MEM1 65508,1,0,0

SM_CCo 3219.01,307.02,1.148,0,541.9,618.8,464.9,590.71 MEM2 942348,32,103920,83

SM_GC 1.39,307.02,12.99,0.41,1.148,0.072,0.101,541.9,618.8,464.9,215.1,2774.4,0,0,0,11.83,15.88,15.90 DATA_FILE_SIZE 9729,419

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 627140,0

IRIDIUM_FIX 4738.33,-12256.21,200522,205918 SDSIZE 3918848,3882784

TCM_TEMP 12.86 SDFILEDIR 304,3

SC_FREEKB 3876128 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,-0.039748,-0.035023,-0.039789,1.101317,0.014358,0.073366,-0.031395,1.117203,-945.6,-1109.6,-30.0,22,0.0237,0

HUMID 48.39 IMPLIED_C_PITCH 1995,16.06,232,2012.4,18.00

TEMP 9.78 IMPLIED_C_VBD 2976,15.969413,232,0

INTERNAL_PRESSURE 7.88734 GPS 200522,230453,4735.969,-12256.972,2,1.5,7,15.5

_24V_AH 14.70,131.453

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1347 12798.59 nil 0 0 0.00

Pitch_motor 28 282 119.72 nil 0 0 0.00

Roll_motor 51 238 179.44 nil 0 0 0.00

Iridium 152 206 464.18 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.33 nil 0 0 0.00

Core 1699 5 127.57 SciCon 2896 7 298.12

Fast 3 0 0.00 PMAR 10 6619 970.38

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1423 0 6.68

Compass 859 5 63.00

RAFOS 1802 40 1056.81

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.26 16386 -100.88 -1.20 0.00 540.6 612.6 468.7 216.4 2726.3 0.00 0.00 0 121.66 111.57 0.00 0.00 0.005 0.000 0.000 3105.16 3111.00 3099.31 216.38 2726.25 0 0 0 14.89 30.00 30.00

121.87 18983 -146.63 -1.26 -80.00 3104.5 3110.5 3098.4 216.8 2725.8 3.39 -1.61 21 154.25 12.98 11.81 3.49 0.007 0.282 0.128 3545.25 3575.06 3515.44 1725.25 1280.81 0 0 0 15.73 15.57 15.65

342.31 1028 -146.63 -1.26 0.00 3550.0 3582.2 3517.9 1726.6 1280.9 28.23 -11.86 65 348.02 0.00 0.00 3.39 0.000 0.000 0.072 3549.69 3582.50 3516.88 1726.38 2769.62 0 0 0 30.00 30.00 15.75

532.37 0 -146.63 -1.26 0.00 3549.5 3583.4 3515.6 1726.2 2769.9 44.72 -8.47 103 536.50 0.00 0.00 0.00 0.000 0.000 0.000 3549.47 3582.75 3516.19 1726.00 2769.75 0 0 0 30.00 30.00 30.00

724.52 516 -146.63 -1.26 -80.00 3549.8 3582.9 3516.8 1726.3 2769.9 61.70 -9.06 128 729.51 0.00 0.00 3.57 0.000 0.000 0.122 3549.97 3584.06 3515.88 1726.00 1280.75 0 0 0 30.00 30.00 15.79

758.83 1028 -146.63 -1.26 0.00 3550.1 3584.4 3515.8 1725.9 1280.9 65.44 -10.71 135 765.20 0.00 0.00 3.37 0.000 0.000 0.071 3551.75 3585.44 3518.06 1726.06 2768.44 0 0 0 30.00 30.00 15.83

954.53 260 -146.63 -1.26 80.00 3550.0 3583.4 3516.6 1726.1 2768.3 83.65 -9.57 155 959.38 0.00 0.00 2.74 0.000 0.000 0.135 3550.59 3584.69 3516.50 1726.31 3912.25 0 0 0 30.00 30.00 15.81

1018.83 1028 -146.63 -1.26 0.00 3549.8 3583.3 3516.2 1726.2 3912.1 90.54 -10.84 168 1025.12 0.00 0.00 2.70 0.000 0.000 0.072 3550.62 3584.00 3517.25 1726.50 2724.38 0 0 0 30.00 30.00 15.86

1214.55 0 -146.63 -1.26 0.00 3550.3 3583.9 3516.6 1726.0 2724.6 109.93 -9.81 188 1215.89 0.00 0.00 0.00 0.000 0.000 0.000 3549.34 3583.88 3514.81 1726.38 2725.19 0 0 0 30.00 30.00 30.00

1404.55 0 -146.63 -1.26 0.00 3550.2 3583.5 3517.0 1726.1 2724.7 128.69 -9.80 207 1405.89 0.00 0.00 0.00 0.000 0.000 0.000 3549.53 3582.44 3516.62 1726.00 2724.56 0 0 0 30.00 30.00 30.00

1594.57 260 -146.63 -1.26 80.00 3550.0 3583.4 3516.5 1726.3 2725.2 147.03 -9.83 226 1599.44 0.00 0.00 2.84 0.000 0.000 0.131 3549.47 3582.50 3516.44 1726.31 3911.88 0 0 0 30.00 30.00 15.89

1624 end dive: TARGET_DEPTH_EXCEEDED

state 1624 begin apogee

1628.79 10243 0.00 -0.25 0.00 3549.7 3583.1 3516.2 1726.0 2575.8 150.13 -10.06 232 1737.30 105.07 1.64 0.07 1.348 0.152 0.239 2946.66 3012.00 2881.31 1970.81 2622.38 0 0 0 11.85 15.88 15.46

1738 end apogee: CONTROL_FINISHED_OK

state 1738 begin climb

1739.20 10759 146.63 1.26 -80.00 2947.9 3013.5 2882.3 1970.5 2623.7 152.00 0.00 243 1859.13 109.33 2.41 3.57 1.297 0.090 0.134 2305.09 2341.12 2269.06 2337.00 1189.44 0 0 0 11.58 15.47 15.24

1861.49 1028 146.63 1.26 0.00 2349.6 2427.7 2271.5 2339.3 1189.3 139.88 13.93 265 1867.83 0.00 0.00 3.31 0.000 0.000 0.064 2348.34 2426.31 2270.38 2339.75 2622.31 0 0 0 30.00 30.00 15.31

2057.14 260 146.63 1.26 80.00 2344.7 2419.9 2269.4 2339.4 2621.2 109.41 15.19 285 2062.06 0.00 0.00 3.14 0.000 0.000 0.136 2346.72 2421.56 2271.88 2338.50 3909.56 0 0 0 30.00 30.00 15.59

2111.44 17414 146.63 1.26 0.00 2343.4 2417.1 2269.8 2340.1 3909.9 100.84 15.44 296 2117.79 0.00 0.00 3.05 0.000 0.000 0.073 2343.06 2418.81 2267.31 2339.38 2577.88 0 0 0 30.00 30.00 15.67

2307.18 16646 146.63 1.26 80.00 2343.2 2417.4 2269.1 2339.4 2577.3 72.69 14.17 316 2312.08 0.00 0.00 3.19 0.000 0.000 0.129 2342.34 2417.94 2266.75 2340.25 3910.25 0 0 0 30.00 30.00 15.73

2337.17 17414 146.63 1.26 0.00 2342.4 2415.6 2269.2 2339.2 3911.0 68.18 15.29 322 2342.10 0.00 0.00 3.04 0.000 0.000 0.073 2343.84 2416.88 2270.81 2339.88 2576.38 0 0 0 30.00 30.00 15.79

2524.47 16386 146.63 1.26 0.00 2342.4 2415.7 2269.1 2339.4 2577.2 41.36 14.22 347 2528.61 0.00 0.00 0.00 0.000 0.000 0.000 2340.41 2413.75 2267.06 2339.31 2577.06 0 0 0 30.00 30.00 30.00

2709.47 16646 146.63 1.26 80.00 2341.9 2415.2 2268.6 2339.8 2577.3 16.85 11.87 384 2715.14 0.00 0.00 3.18 0.000 0.000 0.128 2339.72 2412.81 2266.62 2340.06 3910.19 0 0 0 30.00 30.00 15.84

2804.51 17414 146.63 1.26 0.00 2341.1 2413.4 2268.7 2339.9 3910.5 5.98 10.43 403 2810.13 0.00 0.00 3.03 0.000 0.000 0.073 2339.69 2411.94 2267.44 2339.94 2577.19 0 0 0 30.00 30.00 15.90

2854 end climb: SURFACE_DEPTH_REACHED

state 2854 begin surface coast

2884 end surface coast: CONTROL_FINISHED_OK

state 2884 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	14	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	8	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	8	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	165	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	1
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	0	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	65	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	400	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	2	SEABIRD_T_G	0.004415411
USE_BATHY	0	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	157.01561	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	19.949879	FG_AHR_24V	196.71039	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	-158.77972	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	200522,220609,4736.356,-12256.838,17,1.1,18,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200522,221010,4736.342,-12256.876,3,1.1,6,15.5	MHEAD_RNG_PITCHd_Wd	178.3,652,-21.5,-10.000,-24.71,1527,0.132
SPEED_LIMITS	0.173,0.258	D_GRID	150
TGT_NAME	S	IRON	1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220520225211.381262,06,3670,35,0100,0150,37,02,02,00,02,-1,-01,-01,1,3,10619,0,150,-2.4,0.57,-100,2.43,-01,-2.30,64,10000,5000,0,-1,00,00*51	_10V_AH	14.66,0.000
NAV	1653087859,0.3,start	FG_AHR_24Vo	196.902
NET_PING	1653086409,45,767.719482,0.400000,-1.016014	FG_AHR_10Vo	157.045
FREEZE	0.23,11.470,-1.537,0,1,0	MEM0	60148,1,0,0
FINISH	0.2,1.021413	MEM1	65508,1,0,0
SM_CCo	3219.01,307.02,1.148,0,541.9,618.8,464.9,590.71	MEM2	942348,32,103920,83
SM_GC	1.39,307.02,12.99,0.41,1.148,0.072,0.101,541.9,618.8,464.9,215.1,2774.4,0,0,0,11.83,15.88,15.90	DATA_FILE_SIZE	9729,419
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	627140,0
IRIDIUM_FIX	4738.33,-12256.21,200522,205918	SDSIZE	3918848,3882784
TCM_TEMP	12.86	SDFILEDIR	304,3
SC_FREEKB	3876128	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,-0.039748,-0.035023,-0.039789,1.101317,0.014358,0.073366,-0.031395,1.117203,-945.6,-1109.6,-30.0,22,0.0237,0
HUMID	48.39	IMPLIED_C_PITCH	1995,16.06,232,2012.4,18.00
TEMP	9.78	IMPLIED_C_VBD	2976,15.969413,232,0
INTERNAL_PRESSURE	7.88734	GPS	200522,230453,4735.969,-12256.972,2,1.5,7,15.5
_24V_AH	14.70,131.453

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1347	12798.59	nil	0	0	0.00
Pitch_motor	28	282	119.72	nil	0	0	0.00
Roll_motor	51	238	179.44	nil	0	0	0.00
Iridium	152	206	464.18	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.33	nil	0	0	0.00
Core	1699	5	127.57	SciCon	2896	7	298.12
Fast	3	0	0.00	PMAR	10	6619	970.38
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1423	0	6.68
Compass	859	5	63.00
RAFOS	1802	40	1056.81
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.26	16386	-100.88	-1.20	0.00	540.6	612.6	468.7	216.4	2726.3	0.00	0.00	0	121.66	111.57	0.00	0.00	0.005	0.000	0.000	3105.16	3111.00	3099.31	216.38	2726.25	0	0	0	14.89	30.00	30.00
121.87	18983	-146.63	-1.26	-80.00	3104.5	3110.5	3098.4	216.8	2725.8	3.39	-1.61	21	154.25	12.98	11.81	3.49	0.007	0.282	0.128	3545.25	3575.06	3515.44	1725.25	1280.81	0	0	0	15.73	15.57	15.65
342.31	1028	-146.63	-1.26	0.00	3550.0	3582.2	3517.9	1726.6	1280.9	28.23	-11.86	65	348.02	0.00	0.00	3.39	0.000	0.000	0.072	3549.69	3582.50	3516.88	1726.38	2769.62	0	0	0	30.00	30.00	15.75
532.37	0	-146.63	-1.26	0.00	3549.5	3583.4	3515.6	1726.2	2769.9	44.72	-8.47	103	536.50	0.00	0.00	0.00	0.000	0.000	0.000	3549.47	3582.75	3516.19	1726.00	2769.75	0	0	0	30.00	30.00	30.00
724.52	516	-146.63	-1.26	-80.00	3549.8	3582.9	3516.8	1726.3	2769.9	61.70	-9.06	128	729.51	0.00	0.00	3.57	0.000	0.000	0.122	3549.97	3584.06	3515.88	1726.00	1280.75	0	0	0	30.00	30.00	15.79
758.83	1028	-146.63	-1.26	0.00	3550.1	3584.4	3515.8	1725.9	1280.9	65.44	-10.71	135	765.20	0.00	0.00	3.37	0.000	0.000	0.071	3551.75	3585.44	3518.06	1726.06	2768.44	0	0	0	30.00	30.00	15.83
954.53	260	-146.63	-1.26	80.00	3550.0	3583.4	3516.6	1726.1	2768.3	83.65	-9.57	155	959.38	0.00	0.00	2.74	0.000	0.000	0.135	3550.59	3584.69	3516.50	1726.31	3912.25	0	0	0	30.00	30.00	15.81
1018.83	1028	-146.63	-1.26	0.00	3549.8	3583.3	3516.2	1726.2	3912.1	90.54	-10.84	168	1025.12	0.00	0.00	2.70	0.000	0.000	0.072	3550.62	3584.00	3517.25	1726.50	2724.38	0	0	0	30.00	30.00	15.86
1214.55	0	-146.63	-1.26	0.00	3550.3	3583.9	3516.6	1726.0	2724.6	109.93	-9.81	188	1215.89	0.00	0.00	0.00	0.000	0.000	0.000	3549.34	3583.88	3514.81	1726.38	2725.19	0	0	0	30.00	30.00	30.00
1404.55	0	-146.63	-1.26	0.00	3550.2	3583.5	3517.0	1726.1	2724.7	128.69	-9.80	207	1405.89	0.00	0.00	0.00	0.000	0.000	0.000	3549.53	3582.44	3516.62	1726.00	2724.56	0	0	0	30.00	30.00	30.00
1594.57	260	-146.63	-1.26	80.00	3550.0	3583.4	3516.5	1726.3	2725.2	147.03	-9.83	226	1599.44	0.00	0.00	2.84	0.000	0.000	0.131	3549.47	3582.50	3516.44	1726.31	3911.88	0	0	0	30.00	30.00	15.89
1624	end dive: TARGET_DEPTH_EXCEEDED
state	1624	begin apogee
1628.79	10243	0.00	-0.25	0.00	3549.7	3583.1	3516.2	1726.0	2575.8	150.13	-10.06	232	1737.30	105.07	1.64	0.07	1.348	0.152	0.239	2946.66	3012.00	2881.31	1970.81	2622.38	0	0	0	11.85	15.88	15.46
1738	end apogee: CONTROL_FINISHED_OK
state	1738	begin climb
1739.20	10759	146.63	1.26	-80.00	2947.9	3013.5	2882.3	1970.5	2623.7	152.00	0.00	243	1859.13	109.33	2.41	3.57	1.297	0.090	0.134	2305.09	2341.12	2269.06	2337.00	1189.44	0	0	0	11.58	15.47	15.24
1861.49	1028	146.63	1.26	0.00	2349.6	2427.7	2271.5	2339.3	1189.3	139.88	13.93	265	1867.83	0.00	0.00	3.31	0.000	0.000	0.064	2348.34	2426.31	2270.38	2339.75	2622.31	0	0	0	30.00	30.00	15.31
2057.14	260	146.63	1.26	80.00	2344.7	2419.9	2269.4	2339.4	2621.2	109.41	15.19	285	2062.06	0.00	0.00	3.14	0.000	0.000	0.136	2346.72	2421.56	2271.88	2338.50	3909.56	0	0	0	30.00	30.00	15.59
2111.44	17414	146.63	1.26	0.00	2343.4	2417.1	2269.8	2340.1	3909.9	100.84	15.44	296	2117.79	0.00	0.00	3.05	0.000	0.000	0.073	2343.06	2418.81	2267.31	2339.38	2577.88	0	0	0	30.00	30.00	15.67
2307.18	16646	146.63	1.26	80.00	2343.2	2417.4	2269.1	2339.4	2577.3	72.69	14.17	316	2312.08	0.00	0.00	3.19	0.000	0.000	0.129	2342.34	2417.94	2266.75	2340.25	3910.25	0	0	0	30.00	30.00	15.73
2337.17	17414	146.63	1.26	0.00	2342.4	2415.6	2269.2	2339.2	3911.0	68.18	15.29	322	2342.10	0.00	0.00	3.04	0.000	0.000	0.073	2343.84	2416.88	2270.81	2339.88	2576.38	0	0	0	30.00	30.00	15.79
2524.47	16386	146.63	1.26	0.00	2342.4	2415.7	2269.1	2339.4	2577.2	41.36	14.22	347	2528.61	0.00	0.00	0.00	0.000	0.000	0.000	2340.41	2413.75	2267.06	2339.31	2577.06	0	0	0	30.00	30.00	30.00
2709.47	16646	146.63	1.26	80.00	2341.9	2415.2	2268.6	2339.8	2577.3	16.85	11.87	384	2715.14	0.00	0.00	3.18	0.000	0.000	0.128	2339.72	2412.81	2266.62	2340.06	3910.19	0	0	0	30.00	30.00	15.84
2804.51	17414	146.63	1.26	0.00	2341.1	2413.4	2268.7	2339.9	3910.5	5.98	10.43	403	2810.13	0.00	0.00	3.03	0.000	0.000	0.073	2339.69	2411.94	2267.44	2339.94	2577.19	0	0	0	30.00	30.00	15.90
2854	end climb: SURFACE_DEPTH_REACHED
state	2854	begin surface coast
2884	end surface coast: CONTROL_FINISHED_OK
state	2884	begin surface