Glider dive log

HoodCanal 24May22 * SG241 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 1 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 1 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 15 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 69

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1700 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18.910042 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.33223 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 26.75701 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -189.03369 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 1 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.33223 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 26.75701 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 18.910042 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3628 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3000 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72520 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 1 MISSION 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240522,161349,4737.142,-12256.084,1,0.8,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,161626,4737.147,-12256.061,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 193.4,2427,-17.1,-9.697,-20.82,2278,0.096

SPEED_LIMITS 0.168,0.255 D_GRID 163

TGT_NAME S IRON 1.000000,0.012280,0.055121,0.009082,1.081495,-0.071882,0.020596,-0.050251,0.988661,436.639801,-1258.489990,-210.509354

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653413344,1.7,start _10V_AH 14.91,0.000

MODEM_MSG CACST,8,1,20220524170001.370999,18,772,28,0124,0000,246,01,01,00,01,-1,-01,-01,1,3,0,0,150,85.1,0.56,-100,2.44,-01,0.26,-6,925,0025,0,-1,00,00*11 FG_AHR_24Vo 26.914

FINISH 1.7,1.019703 FG_AHR_10Vo 19.359

SM_CCo 4327.66,172.27,0.876,0,541.4,608.2,474.6,603.10 MEM0 60132,1,0,0

SM_GC 1.33,172.27,12.28,0.10,0.876,0.092,0.143,541.4,608.2,474.6,197.3,2187.8,0,0,0,11.79,15.85,15.88 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 944500,32,102128,65

IRIDIUM_FIX 4739.67,-12257.95,240522,161216 DATA_FILE_SIZE 16146,606

TCM_TEMP 13.47 CAP_FILE_SIZE 423370,0

SC_FREEKB 3878464 SDSIZE 3887104,3873152

RAFOS_CLK 1 SDFILEDIR 51,1

MODEM 2,1653409816,47.61230,-122.96660,16.178,23701.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4743.679199,-12257.996094,240522,171701,2,510,4051.81 SOUNDSPEED 1465.0

HUMID 50.16 CURRENT 0.032,170.5,1

TEMP 11.13 IMPLIED_C_PITCH 1756,19.09,293,1727.9,19.00

INTERNAL_PRESSURE 8.14194 IMPLIED_C_VBD 3087,40.806526,293,3043.5

_24V_AH 14.89,6.572 GPS 240522,173010,4736.686,-12256.276,26,1.3,35,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 673 1030 10323.13 nil 0 0 0.00

Pitch_motor 29 286 125.43 nil 0 0 0.00

Roll_motor 76 164 187.60 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.92 nil 0 0 0.00

Core 2392 5 182.68 SciCon 4125 6 425.05

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1786 0 8.52

Compass 1231 5 91.78

RAFOS 870 40 518.95

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.66 16386 -146.63 -1.08 0.00 541.1 629.2 452.9 197.4 2194.6 0.00 0.00 0 98.38 86.45 0.00 0.00 0.005 0.000 0.000 2531.91 2492.94 2570.88 197.25 2194.81 0 0 0 16.22 30.00 30.00

98.74 18727 -146.63 -1.08 80.00 2531.0 2491.8 2570.2 197.1 2195.0 3.10 -1.88 17 156.03 34.03 9.84 3.38 0.005 0.286 0.102 3598.19 3591.31 3605.06 1436.69 3618.50 0 0 0 16.22 16.04 16.14

229.56 3237 -146.63 -0.80 0.00 3597.7 3592.4 3603.1 1436.6 3619.5 11.98 -6.25 42 236.45 0.00 0.47 3.33 0.000 0.183 0.043 3599.16 3593.62 3604.69 1505.81 2108.62 0 0 0 30.00 16.10 16.17

417.71 548 -146.63 -0.80 -80.00 3599.2 3597.6 3600.7 1505.9 2108.3 20.35 -4.50 79 424.38 0.00 0.00 3.38 0.000 0.000 0.098 3598.84 3596.94 3600.75 1506.75 679.69 0 0 0 30.00 30.00 16.16

452.90 1188 -146.63 -0.75 0.00 3598.9 3597.3 3600.5 1506.9 679.8 22.22 -4.99 86 459.48 0.00 0.00 3.34 0.000 0.000 0.042 3600.38 3598.56 3602.19 1507.06 2184.75 0 0 0 30.00 30.00 16.19

642.96 2469 -146.63 -0.70 80.00 3598.7 3597.9 3599.5 1506.6 2184.1 30.59 -5.14 124 649.74 0.00 0.17 3.39 0.000 0.180 0.101 3599.06 3598.38 3599.75 1534.25 3620.31 0 0 0 30.00 16.16 16.18

743.21 1188 -146.63 -0.60 0.00 3599.1 3598.9 3599.2 1534.1 3620.7 37.27 -6.82 142 749.80 0.00 0.00 3.36 0.000 0.000 0.043 3599.09 3597.88 3600.31 1534.69 2109.75 0 0 0 30.00 30.00 16.19

932.64 32 -146.63 -0.60 0.00 3598.6 3598.1 3599.1 1533.2 2109.5 49.21 -6.20 179 937.18 0.00 0.00 0.00 0.000 0.000 0.000 3599.03 3598.56 3599.50 1534.31 2109.75 0 0 0 30.00 30.00 30.00

1117.66 32 -146.63 -0.60 0.00 3598.9 3598.4 3599.5 1534.3 2109.5 61.53 -6.95 199 1119.23 0.00 0.00 0.00 0.000 0.000 0.000 3598.06 3597.12 3599.00 1534.00 2109.56 0 0 0 30.00 30.00 30.00

1307.69 292 -146.63 -0.60 80.00 3598.7 3598.0 3599.3 1533.9 2109.2 75.07 -7.40 218 1313.71 0.00 0.00 3.60 0.000 0.000 0.103 3598.03 3597.62 3598.44 1533.56 3619.12 0 0 0 30.00 30.00 16.18

1342.12 3237 -146.63 -0.55 0.00 3599.0 3598.1 3599.9 1534.2 3619.1 78.07 -7.99 225 1349.56 0.00 0.23 3.35 0.000 0.175 0.046 3599.03 3598.75 3599.31 1568.81 2111.88 0 0 0 30.00 16.15 16.20

1535.80 160 -146.63 -0.63 0.00 3598.4 3597.7 3599.1 1568.9 2112.5 90.98 -6.65 245 1537.38 0.00 0.00 0.00 0.000 0.000 0.000 3598.41 3597.94 3598.88 1568.75 2112.25 0 0 0 30.00 30.00 30.00

1725.82 4517 -146.63 -0.72 80.00 3598.5 3598.4 3598.7 1568.5 2111.7 103.86 -6.92 264 1733.07 0.00 0.36 3.59 0.000 0.078 0.104 3597.66 3597.06 3598.25 1511.31 3617.50 0 0 0 30.00 16.20 16.20

1771.55 3205 -146.63 -0.57 0.00 3598.3 3597.6 3599.1 1511.0 3617.3 108.41 -10.46 273 1778.77 0.00 0.40 3.35 0.000 0.169 0.047 3597.31 3597.25 3597.38 1561.06 2114.44 0 0 0 30.00 16.17 16.22

1966.62 160 -146.63 -0.65 0.00 3598.2 3598.5 3598.0 1561.6 2113.5 122.50 -7.14 293 1968.21 0.00 0.00 0.00 0.000 0.000 0.000 3597.56 3598.00 3597.12 1561.12 2113.12 0 0 0 30.00 30.00 30.00

2155.66 4257 -146.63 -0.74 0.00 3597.8 3598.1 3597.6 1560.9 2113.3 136.22 -7.37 312 2157.51 0.00 0.33 0.00 0.000 0.083 0.000 3597.88 3597.62 3598.12 1506.56 2113.12 0 0 0 30.00 16.21 30.00

2256 end dive: HALF_MISSION_TIME_EXCEEDED

state 2256 begin apogee

2256.88 10243 0.00 -0.26 0.00 3597.5 3598.5 3596.5 1506.7 2186.4 145.54 -9.82 322 2376.08 111.62 0.95 0.12 1.030 0.156 0.165 2998.12 3052.94 2943.31 1636.69 2107.94 0 0 0 11.90 16.20 15.86

2377 end apogee: CONTROL_FINISHED_OK

state 2377 begin climb

2377.24 10759 146.63 1.08 -80.00 2999.0 3053.7 2944.4 1636.5 2107.9 151.29 0.00 333 2506.08 114.51 2.28 3.52 0.993 0.135 0.111 2400.38 2471.75 2329.00 1965.12 682.12 0 0 0 11.65 15.85 15.65

2508.97 9382 170.53 1.06 0.00 2400.1 2470.6 2329.7 1965.1 682.1 143.58 8.62 350 2544.05 20.75 0.00 3.47 0.910 0.000 0.047 2301.62 2375.38 2227.88 1965.50 2175.00 0 0 0 11.65 30.00 15.71

2727.33 260 170.53 1.06 80.00 2298.5 2368.2 2228.8 1964.6 2175.7 120.37 10.60 373 2733.51 0.00 0.00 3.54 0.000 0.000 0.112 2299.03 2369.00 2229.06 1965.31 3617.44 0 0 0 30.00 30.00 15.82

2811.78 21639 170.53 0.98 0.00 2296.4 2363.9 2228.8 1964.9 3618.6 109.65 13.04 390 2819.39 0.00 0.30 3.40 0.000 0.180 0.048 2296.38 2364.25 2228.50 1930.00 2116.12 0 0 0 30.00 15.84 15.90

3007.66 10663 196.70 1.12 80.00 2296.4 2364.2 2228.6 1929.9 2115.1 92.12 8.52 410 3039.98 21.26 0.31 3.66 0.928 0.083 0.109 2199.69 2275.12 2124.25 1978.06 3615.94 0 0 0 11.66 15.95 15.90

3098.48 1156 196.70 1.06 0.00 2194.8 2267.9 2121.7 1978.1 3616.9 81.33 12.77 428 3104.39 0.00 0.00 3.38 0.000 0.000 0.049 2197.09 2270.00 2124.19 1978.25 2119.31 0 0 0 30.00 30.00 15.96

3285.40 260 196.70 1.06 80.00 2194.6 2267.6 2121.6 1977.9 2118.5 61.16 10.71 448 3291.54 0.00 0.00 3.64 0.000 0.000 0.109 2196.88 2269.50 2124.25 1978.44 3616.19 0 0 0 30.00 30.00 16.00

3328.74 5253 196.70 1.02 0.00 2193.5 2265.4 2121.5 1977.9 3616.5 56.01 12.20 456 3335.94 0.00 0.31 3.36 0.000 0.162 0.048 2195.06 2266.06 2124.06 1938.50 2116.88 0 0 0 30.00 15.97 16.03

3518.78 10663 229.15 1.18 80.00 2193.3 2265.1 2121.5 1939.8 2116.2 39.81 8.24 487 3552.16 25.44 0.34 3.65 0.920 0.083 0.111 2063.62 2145.88 1981.38 1993.25 3616.44 0 0 0 11.77 16.06 15.97

3565.57 1028 229.15 1.18 0.00 2063.2 2144.0 1982.4 1993.2 3616.2 35.14 10.28 496 3572.26 0.00 0.00 3.36 0.000 0.000 0.047 2063.81 2144.62 1983.00 1992.69 2118.38 0 0 0 30.00 30.00 16.00

3755.68 388 229.15 1.24 80.00 2061.4 2140.6 1982.3 1993.2 2117.9 15.18 10.10 534 3762.49 0.00 0.00 3.63 0.000 0.000 0.110 2063.62 2142.56 1984.69 1993.25 3616.50 0 0 0 30.00 30.00 16.03

3831.00 9382 243.63 1.29 0.00 2060.3 2138.1 1982.5 1992.9 3616.4 8.05 9.05 549 3853.30 12.55 0.00 3.37 0.834 0.000 0.048 2006.34 2089.81 1922.88 1993.50 2117.25 0 0 0 11.73 30.00 16.07

4034.79 10663 425.59 1.77 80.00 2003.9 2085.2 1922.6 1993.6 2116.4 2.66 1.52 589 4114.03 74.21 0.87 0.00 0.904 0.077 0.000 1584.09 1691.88 1476.31 2135.38 2116.69 0 0 0 11.77 16.06 30.00

4114 end climb: SURFACE_DEPTH_REACHED

state 4114 begin surface coast

4123 end surface coast: NO_VERTICAL_VELOCITY

state 4123 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	1	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	1	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	15	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	69
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1700	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18.910042	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.33223	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	26.75701	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-189.03369	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	240522,161349,4737.142,-12256.084,1,0.8,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,161626,4737.147,-12256.061,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	193.4,2427,-17.1,-9.697,-20.82,2278,0.096
SPEED_LIMITS	0.168,0.255	D_GRID	163
TGT_NAME	S	IRON	1.000000,0.012280,0.055121,0.009082,1.081495,-0.071882,0.020596,-0.050251,0.988661,436.639801,-1258.489990,-210.509354
TGT_LATLONG	4736.000,-12257.000

NAV	1653413344,1.7,start	_10V_AH	14.91,0.000
MODEM_MSG	CACST,8,1,20220524170001.370999,18,772,28,0124,0000,246,01,01,00,01,-1,-01,-01,1,3,0,0,150,85.1,0.56,-100,2.44,-01,0.26,-6,925,0025,0,-1,00,00*11	FG_AHR_24Vo	26.914
FINISH	1.7,1.019703	FG_AHR_10Vo	19.359
SM_CCo	4327.66,172.27,0.876,0,541.4,608.2,474.6,603.10	MEM0	60132,1,0,0
SM_GC	1.33,172.27,12.28,0.10,0.876,0.092,0.143,541.4,608.2,474.6,197.3,2187.8,0,0,0,11.79,15.85,15.88	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	944500,32,102128,65
IRIDIUM_FIX	4739.67,-12257.95,240522,161216	DATA_FILE_SIZE	16146,606
TCM_TEMP	13.47	CAP_FILE_SIZE	423370,0
SC_FREEKB	3878464	SDSIZE	3887104,3873152
RAFOS_CLK	1	SDFILEDIR	51,1
MODEM	2,1653409816,47.61230,-122.96660,16.178,23701.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4743.679199,-12257.996094,240522,171701,2,510,4051.81	SOUNDSPEED	1465.0
HUMID	50.16	CURRENT	0.032,170.5,1
TEMP	11.13	IMPLIED_C_PITCH	1756,19.09,293,1727.9,19.00
INTERNAL_PRESSURE	8.14194	IMPLIED_C_VBD	3087,40.806526,293,3043.5
_24V_AH	14.89,6.572	GPS	240522,173010,4736.686,-12256.276,26,1.3,35,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	673	1030	10323.13	nil	0	0	0.00
Pitch_motor	29	286	125.43	nil	0	0	0.00
Roll_motor	76	164	187.60	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.92	nil	0	0	0.00
Core	2392	5	182.68	SciCon	4125	6	425.05
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1786	0	8.52
Compass	1231	5	91.78
RAFOS	870	40	518.95
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.66	16386	-146.63	-1.08	0.00	541.1	629.2	452.9	197.4	2194.6	0.00	0.00	0	98.38	86.45	0.00	0.00	0.005	0.000	0.000	2531.91	2492.94	2570.88	197.25	2194.81	0	0	0	16.22	30.00	30.00
98.74	18727	-146.63	-1.08	80.00	2531.0	2491.8	2570.2	197.1	2195.0	3.10	-1.88	17	156.03	34.03	9.84	3.38	0.005	0.286	0.102	3598.19	3591.31	3605.06	1436.69	3618.50	0	0	0	16.22	16.04	16.14
229.56	3237	-146.63	-0.80	0.00	3597.7	3592.4	3603.1	1436.6	3619.5	11.98	-6.25	42	236.45	0.00	0.47	3.33	0.000	0.183	0.043	3599.16	3593.62	3604.69	1505.81	2108.62	0	0	0	30.00	16.10	16.17
417.71	548	-146.63	-0.80	-80.00	3599.2	3597.6	3600.7	1505.9	2108.3	20.35	-4.50	79	424.38	0.00	0.00	3.38	0.000	0.000	0.098	3598.84	3596.94	3600.75	1506.75	679.69	0	0	0	30.00	30.00	16.16
452.90	1188	-146.63	-0.75	0.00	3598.9	3597.3	3600.5	1506.9	679.8	22.22	-4.99	86	459.48	0.00	0.00	3.34	0.000	0.000	0.042	3600.38	3598.56	3602.19	1507.06	2184.75	0	0	0	30.00	30.00	16.19
642.96	2469	-146.63	-0.70	80.00	3598.7	3597.9	3599.5	1506.6	2184.1	30.59	-5.14	124	649.74	0.00	0.17	3.39	0.000	0.180	0.101	3599.06	3598.38	3599.75	1534.25	3620.31	0	0	0	30.00	16.16	16.18
743.21	1188	-146.63	-0.60	0.00	3599.1	3598.9	3599.2	1534.1	3620.7	37.27	-6.82	142	749.80	0.00	0.00	3.36	0.000	0.000	0.043	3599.09	3597.88	3600.31	1534.69	2109.75	0	0	0	30.00	30.00	16.19
932.64	32	-146.63	-0.60	0.00	3598.6	3598.1	3599.1	1533.2	2109.5	49.21	-6.20	179	937.18	0.00	0.00	0.00	0.000	0.000	0.000	3599.03	3598.56	3599.50	1534.31	2109.75	0	0	0	30.00	30.00	30.00
1117.66	32	-146.63	-0.60	0.00	3598.9	3598.4	3599.5	1534.3	2109.5	61.53	-6.95	199	1119.23	0.00	0.00	0.00	0.000	0.000	0.000	3598.06	3597.12	3599.00	1534.00	2109.56	0	0	0	30.00	30.00	30.00
1307.69	292	-146.63	-0.60	80.00	3598.7	3598.0	3599.3	1533.9	2109.2	75.07	-7.40	218	1313.71	0.00	0.00	3.60	0.000	0.000	0.103	3598.03	3597.62	3598.44	1533.56	3619.12	0	0	0	30.00	30.00	16.18
1342.12	3237	-146.63	-0.55	0.00	3599.0	3598.1	3599.9	1534.2	3619.1	78.07	-7.99	225	1349.56	0.00	0.23	3.35	0.000	0.175	0.046	3599.03	3598.75	3599.31	1568.81	2111.88	0	0	0	30.00	16.15	16.20
1535.80	160	-146.63	-0.63	0.00	3598.4	3597.7	3599.1	1568.9	2112.5	90.98	-6.65	245	1537.38	0.00	0.00	0.00	0.000	0.000	0.000	3598.41	3597.94	3598.88	1568.75	2112.25	0	0	0	30.00	30.00	30.00
1725.82	4517	-146.63	-0.72	80.00	3598.5	3598.4	3598.7	1568.5	2111.7	103.86	-6.92	264	1733.07	0.00	0.36	3.59	0.000	0.078	0.104	3597.66	3597.06	3598.25	1511.31	3617.50	0	0	0	30.00	16.20	16.20
1771.55	3205	-146.63	-0.57	0.00	3598.3	3597.6	3599.1	1511.0	3617.3	108.41	-10.46	273	1778.77	0.00	0.40	3.35	0.000	0.169	0.047	3597.31	3597.25	3597.38	1561.06	2114.44	0	0	0	30.00	16.17	16.22
1966.62	160	-146.63	-0.65	0.00	3598.2	3598.5	3598.0	1561.6	2113.5	122.50	-7.14	293	1968.21	0.00	0.00	0.00	0.000	0.000	0.000	3597.56	3598.00	3597.12	1561.12	2113.12	0	0	0	30.00	30.00	30.00
2155.66	4257	-146.63	-0.74	0.00	3597.8	3598.1	3597.6	1560.9	2113.3	136.22	-7.37	312	2157.51	0.00	0.33	0.00	0.000	0.083	0.000	3597.88	3597.62	3598.12	1506.56	2113.12	0	0	0	30.00	16.21	30.00
2256	end dive: HALF_MISSION_TIME_EXCEEDED
state	2256	begin apogee
2256.88	10243	0.00	-0.26	0.00	3597.5	3598.5	3596.5	1506.7	2186.4	145.54	-9.82	322	2376.08	111.62	0.95	0.12	1.030	0.156	0.165	2998.12	3052.94	2943.31	1636.69	2107.94	0	0	0	11.90	16.20	15.86
2377	end apogee: CONTROL_FINISHED_OK
state	2377	begin climb
2377.24	10759	146.63	1.08	-80.00	2999.0	3053.7	2944.4	1636.5	2107.9	151.29	0.00	333	2506.08	114.51	2.28	3.52	0.993	0.135	0.111	2400.38	2471.75	2329.00	1965.12	682.12	0	0	0	11.65	15.85	15.65
2508.97	9382	170.53	1.06	0.00	2400.1	2470.6	2329.7	1965.1	682.1	143.58	8.62	350	2544.05	20.75	0.00	3.47	0.910	0.000	0.047	2301.62	2375.38	2227.88	1965.50	2175.00	0	0	0	11.65	30.00	15.71
2727.33	260	170.53	1.06	80.00	2298.5	2368.2	2228.8	1964.6	2175.7	120.37	10.60	373	2733.51	0.00	0.00	3.54	0.000	0.000	0.112	2299.03	2369.00	2229.06	1965.31	3617.44	0	0	0	30.00	30.00	15.82
2811.78	21639	170.53	0.98	0.00	2296.4	2363.9	2228.8	1964.9	3618.6	109.65	13.04	390	2819.39	0.00	0.30	3.40	0.000	0.180	0.048	2296.38	2364.25	2228.50	1930.00	2116.12	0	0	0	30.00	15.84	15.90
3007.66	10663	196.70	1.12	80.00	2296.4	2364.2	2228.6	1929.9	2115.1	92.12	8.52	410	3039.98	21.26	0.31	3.66	0.928	0.083	0.109	2199.69	2275.12	2124.25	1978.06	3615.94	0	0	0	11.66	15.95	15.90
3098.48	1156	196.70	1.06	0.00	2194.8	2267.9	2121.7	1978.1	3616.9	81.33	12.77	428	3104.39	0.00	0.00	3.38	0.000	0.000	0.049	2197.09	2270.00	2124.19	1978.25	2119.31	0	0	0	30.00	30.00	15.96
3285.40	260	196.70	1.06	80.00	2194.6	2267.6	2121.6	1977.9	2118.5	61.16	10.71	448	3291.54	0.00	0.00	3.64	0.000	0.000	0.109	2196.88	2269.50	2124.25	1978.44	3616.19	0	0	0	30.00	30.00	16.00
3328.74	5253	196.70	1.02	0.00	2193.5	2265.4	2121.5	1977.9	3616.5	56.01	12.20	456	3335.94	0.00	0.31	3.36	0.000	0.162	0.048	2195.06	2266.06	2124.06	1938.50	2116.88	0	0	0	30.00	15.97	16.03
3518.78	10663	229.15	1.18	80.00	2193.3	2265.1	2121.5	1939.8	2116.2	39.81	8.24	487	3552.16	25.44	0.34	3.65	0.920	0.083	0.111	2063.62	2145.88	1981.38	1993.25	3616.44	0	0	0	11.77	16.06	15.97
3565.57	1028	229.15	1.18	0.00	2063.2	2144.0	1982.4	1993.2	3616.2	35.14	10.28	496	3572.26	0.00	0.00	3.36	0.000	0.000	0.047	2063.81	2144.62	1983.00	1992.69	2118.38	0	0	0	30.00	30.00	16.00
3755.68	388	229.15	1.24	80.00	2061.4	2140.6	1982.3	1993.2	2117.9	15.18	10.10	534	3762.49	0.00	0.00	3.63	0.000	0.000	0.110	2063.62	2142.56	1984.69	1993.25	3616.50	0	0	0	30.00	30.00	16.03
3831.00	9382	243.63	1.29	0.00	2060.3	2138.1	1982.5	1992.9	3616.4	8.05	9.05	549	3853.30	12.55	0.00	3.37	0.834	0.000	0.048	2006.34	2089.81	1922.88	1993.50	2117.25	0	0	0	11.73	30.00	16.07
4034.79	10663	425.59	1.77	80.00	2003.9	2085.2	1922.6	1993.6	2116.4	2.66	1.52	589	4114.03	74.21	0.87	0.00	0.904	0.077	0.000	1584.09	1691.88	1476.31	2135.38	2116.69	0	0	0	11.77	16.06	30.00
4114	end climb: SURFACE_DEPTH_REACHED
state	4114	begin surface coast
4123	end surface coast: NO_VERTICAL_VELOCITY
state	4123	begin surface