Glider dive log

HoodCanal 24May22.01 * 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 7 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 611.3277 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 7 C_VBD 3032.9299 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 1748.6816 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 18.552288 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.550415 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 27.895031 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 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.550415 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.895031 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 18.552288 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 7 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 1748.6816 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 3032.9299 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 7 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 250522,020237,4737.318,-12256.510,1,1.2,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,020529,4737.351,-12256.454,1,1.2,3,15.5 MHEAD_RNG_PITCHd_Wd 179.7,2593,-17.1,-9.697,-20.82,2278,0.000

SPEED_LIMITS 0.168,0.255 D_GRID 162

TGT_NAME S IRON 1.000000,0.015611,0.041123,0.003288,1.054914,-0.062798,0.019092,-0.032835,0.971622,424.436157,-1305.731079,-157.121933

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20220525030500.738003,18,32767,45,0111,0000,126,03,03,00,03,-1,-01,-01,1,3,0,0,150,0.0,0.57,-100,2.43,-01,0.54,69,925,0025,0,-1,00,00*32 _24V_AH 15.00,7.832

NAV 1653448033,30.2,2,stop _10V_AH 15.00,0.000

NET xmit ok outbox0000.n 167 3 FG_AHR_24Vo 28.060

NET_PING 1653447733,28,1553.131470,26.799999,-2.064245 FG_AHR_10Vo 19.580

FREEZE 3.51,12.762,-1.489,0,1,0 MEM0 60132,1,0,0

SM_CCo 4420.25,249.99,0.897,0,500.5,570.4,430.6,620.98 MEM1 65508,1,0,0

SM_GC 1.31,0.00,12.32,0.11,0.000,0.082,0.131,497.5,570.5,424.6,202.3,2187.2,0,0,0,30.00,15.62,15.64 MEM2 944576,33,102092,62

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16120,610

IRIDIUM_FIX 4738.33,-12256.21,250522,020104 CAP_FILE_SIZE 431717,0

TCM_TEMP 13.34 SDSIZE 3887104,3870816

SC_FREEKB 3878464 SDFILEDIR 62,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1653444301,47.50000,-123.50000,1.236,1810.9 SOUNDSPEED 1465.0

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 CURRENT 0.044, 60.9,1

HUMID 49.27 IMPLIED_C_PITCH 1754,18.89,309,1751.5,18.72

TEMP 11.29 IMPLIED_C_VBD 3107,41.872623,309,3069.8

INTERNAL_PRESSURE 8.14281 GPS 250522,032210,4736.997,-12256.464,4,1.1,12,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 686 1056 10885.95 nil 0 0 0.00

Pitch_motor 28 264 114.90 nil 0 0 0.00

Roll_motor 83 170 214.78 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 12 15 2.90 nil 0 0 0.00

Core 2497 5 191.79 SciCon 4159 6 433.26

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1811 0 8.70

Compass 1238 5 92.88

RAFOS 994 40 596.85

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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

4.65 16386 -146.63 -1.10 0.00 539.3 623.2 455.4 199.7 2189.6 0.00 0.00 0 111.75 101.33 0.00 0.00 0.005 0.000 0.000 2836.28 2810.44 2862.12 199.69 2189.50 0 0 0 16.15 30.00 30.00

112.11 18727 -146.63 -1.10 80.00 2835.6 2809.5 2861.6 199.7 2189.8 3.08 -1.92 20 158.84 24.25 9.89 3.38 0.006 0.265 0.103 3629.03 3621.56 3636.50 1481.00 3619.19 0 0 0 16.16 16.00 16.09

192.36 3237 -146.63 -0.89 0.00 3630.0 3624.4 3635.7 1481.1 3619.2 9.00 -6.88 35 199.19 0.00 0.34 3.35 0.000 0.172 0.043 3630.91 3625.12 3636.69 1532.75 2110.06 0 0 0 30.00 16.06 16.12

382.11 420 -146.63 -0.96 80.00 3630.7 3627.1 3634.3 1533.2 2109.8 18.56 -5.16 72 388.82 0.00 0.00 3.61 0.000 0.000 0.100 3631.16 3627.38 3634.94 1533.06 3619.31 0 0 0 30.00 30.00 16.12

427.26 1060 -146.63 -0.96 0.00 3630.9 3627.3 3634.4 1532.9 3618.9 21.25 -5.80 81 433.92 0.00 0.00 3.36 0.000 0.000 0.042 3631.19 3627.50 3634.88 1532.31 2110.94 0 0 0 30.00 30.00 16.15

617.44 4517 -146.63 -1.00 80.00 3631.0 3627.4 3634.5 1532.8 2111.1 30.99 -5.13 119 624.33 0.00 0.26 3.59 0.000 0.083 0.099 3631.22 3627.62 3634.81 1489.25 3619.31 0 0 0 30.00 16.14 16.13

662.85 3237 -146.63 -0.83 0.00 3630.8 3627.4 3634.1 1488.9 3619.0 34.47 -7.66 128 669.75 0.00 0.45 3.35 0.000 0.169 0.042 3631.91 3628.56 3635.25 1546.12 2112.12 0 0 0 30.00 16.11 16.17

852.27 160 -146.63 -0.88 0.00 3630.8 3627.2 3634.3 1546.6 2111.8 45.33 -5.75 166 856.80 0.00 0.00 0.00 0.000 0.000 0.000 3631.03 3627.56 3634.50 1546.56 2112.19 0 0 0 30.00 30.00 30.00

1037.31 420 -146.63 -0.91 80.00 3631.1 3628.4 3633.8 1546.4 2111.4 56.47 -6.24 193 1044.29 0.00 0.00 3.58 0.000 0.000 0.101 3630.28 3627.06 3633.50 1547.06 3619.44 0 0 0 30.00 30.00 16.16

1112.82 1188 -146.63 -0.87 0.00 3630.7 3627.5 3633.8 1546.8 3619.0 61.93 -7.39 208 1118.68 0.00 0.00 3.36 0.000 0.000 0.044 3631.22 3628.00 3634.44 1547.38 2113.69 0 0 0 30.00 30.00 16.18

1302.77 292 -146.63 -0.87 80.00 3630.9 3627.8 3634.1 1546.8 2113.2 74.94 -7.02 228 1308.79 0.00 0.00 3.58 0.000 0.000 0.101 3629.62 3626.44 3632.81 1547.19 3617.94 0 0 0 30.00 30.00 16.17

1337.03 1060 -146.63 -0.87 0.00 3630.8 3627.9 3633.8 1547.2 3617.8 77.88 -7.71 235 1344.43 0.00 0.00 3.35 0.000 0.000 0.044 3632.25 3629.00 3635.50 1547.06 2114.38 0 0 0 30.00 30.00 16.20

1526.63 420 -146.63 -0.91 80.00 3630.8 3627.2 3634.4 1546.2 2114.6 91.89 -7.59 254 1533.60 0.00 0.00 3.58 0.000 0.000 0.103 3630.97 3628.25 3633.69 1547.06 3622.00 0 0 0 30.00 30.00 16.15

1570.30 1188 -146.63 -0.87 0.00 3630.5 3627.3 3633.7 1546.7 3621.4 95.82 -8.95 262 1577.72 0.00 0.00 3.38 0.000 0.000 0.045 3630.81 3628.06 3633.56 1546.69 2113.12 0 0 0 30.00 30.00 16.13

1766.13 160 -146.63 -0.91 0.00 3630.3 3627.6 3633.1 1546.7 2113.5 111.05 -7.62 282 1767.70 0.00 0.00 0.00 0.000 0.000 0.000 3629.75 3627.31 3632.19 1546.44 2113.50 0 0 0 30.00 30.00 30.00

1956.17 4517 -146.63 -0.96 80.00 3629.8 3627.4 3632.2 1546.4 2113.8 125.20 -7.46 301 1963.35 0.00 0.26 3.57 0.000 0.085 0.103 3631.38 3628.06 3634.69 1501.12 3617.62 0 0 0 30.00 16.17 16.16

2011.84 3205 -146.63 -0.82 0.00 3630.2 3627.9 3632.4 1501.8 3617.7 131.12 -11.02 312 2019.04 0.00 0.38 3.36 0.000 0.173 0.046 3629.09 3626.69 3631.50 1548.88 2116.00 0 0 0 30.00 16.13 16.19

2199.82 160 -146.63 -0.88 0.00 3629.9 3627.6 3632.3 1548.8 2115.8 146.29 -8.06 332 2210.15 0.00 0.00 0.00 0.000 0.000 0.000 3630.06 3627.94 3632.19 1549.25 2116.00 0 0 0 30.00 30.00 30.00

2259 end dive: HALF_MISSION_TIME_EXCEEDED

state 2259 begin apogee

2261.12 10243 0.00 -0.27 0.00 3629.7 3627.4 3631.9 1549.2 2185.8 151.24 -8.27 338 2380.22 111.76 0.92 0.11 1.057 0.146 0.171 3032.22 3087.62 2976.81 1684.31 2109.88 0 0 0 11.90 16.13 15.82

2381 end apogee: CONTROL_FINISHED_OK

state 2381 begin climb

2381.30 10759 146.63 1.10 -80.00 3031.1 3086.2 2975.9 1684.6 2110.2 155.37 0.00 349 2506.17 110.54 2.27 3.54 1.021 0.119 0.113 2432.72 2504.12 2361.31 2016.75 681.69 0 0 0 11.80 15.80 15.59

2509.01 5253 146.63 0.94 0.00 2432.3 2503.1 2361.5 2017.0 682.3 146.81 10.00 362 2516.62 0.00 0.40 3.44 0.000 0.185 0.047 2434.47 2504.50 2364.44 1969.81 2176.31 0 0 0 30.00 15.60 15.66

2697.58 260 146.63 0.94 80.00 2426.9 2492.9 2360.9 1969.4 2175.8 126.19 10.98 382 2703.66 0.00 0.00 3.51 0.000 0.000 0.108 2425.56 2491.38 2359.75 1968.69 3618.19 0 0 0 30.00 30.00 15.83

2747.66 17542 146.63 0.84 0.00 2425.4 2489.6 2361.3 1969.8 3617.1 119.84 13.13 392 2753.55 0.00 0.00 3.40 0.000 0.000 0.046 2423.94 2488.31 2359.56 1969.94 2118.75 0 0 0 30.00 30.00 15.89

2937.63 292 148.10 0.84 80.00 2424.9 2489.1 2360.8 1969.8 2117.4 100.55 9.63 412 2944.77 0.00 0.00 3.64 0.000 0.000 0.107 2424.38 2488.12 2360.62 1969.75 3616.69 0 0 0 30.00 30.00 15.94

2987.53 5253 148.10 0.76 0.00 2423.6 2486.3 2360.9 1968.9 3615.9 95.08 11.13 422 2995.08 0.00 0.29 3.37 0.000 0.173 0.046 2426.25 2488.56 2363.94 1924.50 2115.75 0 0 0 30.00 15.91 15.98

3195.65 10403 207.91 0.94 0.00 2423.6 2486.1 2361.1 1925.8 2116.1 80.59 7.01 442 3247.04 47.82 0.37 0.00 0.973 0.077 0.000 2182.78 2264.69 2100.88 1983.31 2114.62 0 0 0 11.85 16.01 30.00

3430.48 388 207.91 0.97 80.00 2179.0 2256.1 2101.9 1982.8 2114.8 55.49 10.91 466 3437.58 0.00 0.00 3.65 0.000 0.000 0.108 2177.28 2254.50 2100.06 1983.62 3616.69 0 0 0 30.00 30.00 15.91

3495.99 1028 207.91 0.97 0.00 2176.9 2251.9 2101.9 1983.5 3617.1 47.87 11.80 479 3502.69 0.00 0.00 3.37 0.000 0.000 0.048 2177.91 2252.75 2103.06 1983.38 2117.38 0 0 0 30.00 30.00 15.95

3686.18 160 208.00 1.01 0.00 2177.0 2251.9 2102.1 1983.4 2117.1 28.73 9.69 517 3690.70 0.00 0.00 0.00 0.000 0.000 0.000 2177.00 2252.31 2101.69 1983.88 2117.31 0 0 0 30.00 30.00 30.00

3874.18 10663 247.73 1.13 80.00 2176.6 2251.2 2101.9 1983.1 2117.2 11.66 7.91 555 3912.74 30.70 0.23 3.64 0.912 0.089 0.110 2021.44 2109.00 1933.88 2030.38 3616.56 0 0 0 11.78 16.04 15.92

4139.19 11431 471.91 1.52 0.00 2015.3 2097.8 1932.8 2030.4 3616.9 3.57 -0.37 607 4156.79 10.48 0.54 3.38 0.807 0.071 0.045 1973.59 2058.00 1889.19 2126.19 2110.06 0 0 0 11.97 16.01 16.03

4157 end climb: NO_VERTICAL_VELOCITY

state 4157 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	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	611.3277	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	7	C_VBD	3032.9299	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	1748.6816	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	18.552288	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.550415	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	27.895031	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	250522,020237,4737.318,-12256.510,1,1.2,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,020529,4737.351,-12256.454,1,1.2,3,15.5	MHEAD_RNG_PITCHd_Wd	179.7,2593,-17.1,-9.697,-20.82,2278,0.000
SPEED_LIMITS	0.168,0.255	D_GRID	162
TGT_NAME	S	IRON	1.000000,0.015611,0.041123,0.003288,1.054914,-0.062798,0.019092,-0.032835,0.971622,424.436157,-1305.731079,-157.121933
TGT_LATLONG	4736.000,-12257.000

MODEM_MSG	CACST,8,1,20220525030500.738003,18,32767,45,0111,0000,126,03,03,00,03,-1,-01,-01,1,3,0,0,150,0.0,0.57,-100,2.43,-01,0.54,69,925,0025,0,-1,00,00*32	_24V_AH	15.00,7.832
NAV	1653448033,30.2,2,stop	_10V_AH	15.00,0.000
NET	xmit ok outbox0000.n 167 3	FG_AHR_24Vo	28.060
NET_PING	1653447733,28,1553.131470,26.799999,-2.064245	FG_AHR_10Vo	19.580
FREEZE	3.51,12.762,-1.489,0,1,0	MEM0	60132,1,0,0
SM_CCo	4420.25,249.99,0.897,0,500.5,570.4,430.6,620.98	MEM1	65508,1,0,0
SM_GC	1.31,0.00,12.32,0.11,0.000,0.082,0.131,497.5,570.5,424.6,202.3,2187.2,0,0,0,30.00,15.62,15.64	MEM2	944576,33,102092,62
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16120,610
IRIDIUM_FIX	4738.33,-12256.21,250522,020104	CAP_FILE_SIZE	431717,0
TCM_TEMP	13.34	SDSIZE	3887104,3870816
SC_FREEKB	3878464	SDFILEDIR	62,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1653444301,47.50000,-123.50000,1.236,1810.9	SOUNDSPEED	1465.0
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	CURRENT	0.044, 60.9,1
HUMID	49.27	IMPLIED_C_PITCH	1754,18.89,309,1751.5,18.72
TEMP	11.29	IMPLIED_C_VBD	3107,41.872623,309,3069.8
INTERNAL_PRESSURE	8.14281	GPS	250522,032210,4736.997,-12256.464,4,1.1,12,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	686	1056	10885.95	nil	0	0	0.00
Pitch_motor	28	264	114.90	nil	0	0	0.00
Roll_motor	83	170	214.78	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	12	15	2.90	nil	0	0	0.00
Core	2497	5	191.79	SciCon	4159	6	433.26
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1811	0	8.70
Compass	1238	5	92.88
RAFOS	994	40	596.85
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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
4.65	16386	-146.63	-1.10	0.00	539.3	623.2	455.4	199.7	2189.6	0.00	0.00	0	111.75	101.33	0.00	0.00	0.005	0.000	0.000	2836.28	2810.44	2862.12	199.69	2189.50	0	0	0	16.15	30.00	30.00
112.11	18727	-146.63	-1.10	80.00	2835.6	2809.5	2861.6	199.7	2189.8	3.08	-1.92	20	158.84	24.25	9.89	3.38	0.006	0.265	0.103	3629.03	3621.56	3636.50	1481.00	3619.19	0	0	0	16.16	16.00	16.09
192.36	3237	-146.63	-0.89	0.00	3630.0	3624.4	3635.7	1481.1	3619.2	9.00	-6.88	35	199.19	0.00	0.34	3.35	0.000	0.172	0.043	3630.91	3625.12	3636.69	1532.75	2110.06	0	0	0	30.00	16.06	16.12
382.11	420	-146.63	-0.96	80.00	3630.7	3627.1	3634.3	1533.2	2109.8	18.56	-5.16	72	388.82	0.00	0.00	3.61	0.000	0.000	0.100	3631.16	3627.38	3634.94	1533.06	3619.31	0	0	0	30.00	30.00	16.12
427.26	1060	-146.63	-0.96	0.00	3630.9	3627.3	3634.4	1532.9	3618.9	21.25	-5.80	81	433.92	0.00	0.00	3.36	0.000	0.000	0.042	3631.19	3627.50	3634.88	1532.31	2110.94	0	0	0	30.00	30.00	16.15
617.44	4517	-146.63	-1.00	80.00	3631.0	3627.4	3634.5	1532.8	2111.1	30.99	-5.13	119	624.33	0.00	0.26	3.59	0.000	0.083	0.099	3631.22	3627.62	3634.81	1489.25	3619.31	0	0	0	30.00	16.14	16.13
662.85	3237	-146.63	-0.83	0.00	3630.8	3627.4	3634.1	1488.9	3619.0	34.47	-7.66	128	669.75	0.00	0.45	3.35	0.000	0.169	0.042	3631.91	3628.56	3635.25	1546.12	2112.12	0	0	0	30.00	16.11	16.17
852.27	160	-146.63	-0.88	0.00	3630.8	3627.2	3634.3	1546.6	2111.8	45.33	-5.75	166	856.80	0.00	0.00	0.00	0.000	0.000	0.000	3631.03	3627.56	3634.50	1546.56	2112.19	0	0	0	30.00	30.00	30.00
1037.31	420	-146.63	-0.91	80.00	3631.1	3628.4	3633.8	1546.4	2111.4	56.47	-6.24	193	1044.29	0.00	0.00	3.58	0.000	0.000	0.101	3630.28	3627.06	3633.50	1547.06	3619.44	0	0	0	30.00	30.00	16.16
1112.82	1188	-146.63	-0.87	0.00	3630.7	3627.5	3633.8	1546.8	3619.0	61.93	-7.39	208	1118.68	0.00	0.00	3.36	0.000	0.000	0.044	3631.22	3628.00	3634.44	1547.38	2113.69	0	0	0	30.00	30.00	16.18
1302.77	292	-146.63	-0.87	80.00	3630.9	3627.8	3634.1	1546.8	2113.2	74.94	-7.02	228	1308.79	0.00	0.00	3.58	0.000	0.000	0.101	3629.62	3626.44	3632.81	1547.19	3617.94	0	0	0	30.00	30.00	16.17
1337.03	1060	-146.63	-0.87	0.00	3630.8	3627.9	3633.8	1547.2	3617.8	77.88	-7.71	235	1344.43	0.00	0.00	3.35	0.000	0.000	0.044	3632.25	3629.00	3635.50	1547.06	2114.38	0	0	0	30.00	30.00	16.20
1526.63	420	-146.63	-0.91	80.00	3630.8	3627.2	3634.4	1546.2	2114.6	91.89	-7.59	254	1533.60	0.00	0.00	3.58	0.000	0.000	0.103	3630.97	3628.25	3633.69	1547.06	3622.00	0	0	0	30.00	30.00	16.15
1570.30	1188	-146.63	-0.87	0.00	3630.5	3627.3	3633.7	1546.7	3621.4	95.82	-8.95	262	1577.72	0.00	0.00	3.38	0.000	0.000	0.045	3630.81	3628.06	3633.56	1546.69	2113.12	0	0	0	30.00	30.00	16.13
1766.13	160	-146.63	-0.91	0.00	3630.3	3627.6	3633.1	1546.7	2113.5	111.05	-7.62	282	1767.70	0.00	0.00	0.00	0.000	0.000	0.000	3629.75	3627.31	3632.19	1546.44	2113.50	0	0	0	30.00	30.00	30.00
1956.17	4517	-146.63	-0.96	80.00	3629.8	3627.4	3632.2	1546.4	2113.8	125.20	-7.46	301	1963.35	0.00	0.26	3.57	0.000	0.085	0.103	3631.38	3628.06	3634.69	1501.12	3617.62	0	0	0	30.00	16.17	16.16
2011.84	3205	-146.63	-0.82	0.00	3630.2	3627.9	3632.4	1501.8	3617.7	131.12	-11.02	312	2019.04	0.00	0.38	3.36	0.000	0.173	0.046	3629.09	3626.69	3631.50	1548.88	2116.00	0	0	0	30.00	16.13	16.19
2199.82	160	-146.63	-0.88	0.00	3629.9	3627.6	3632.3	1548.8	2115.8	146.29	-8.06	332	2210.15	0.00	0.00	0.00	0.000	0.000	0.000	3630.06	3627.94	3632.19	1549.25	2116.00	0	0	0	30.00	30.00	30.00
2259	end dive: HALF_MISSION_TIME_EXCEEDED
state	2259	begin apogee
2261.12	10243	0.00	-0.27	0.00	3629.7	3627.4	3631.9	1549.2	2185.8	151.24	-8.27	338	2380.22	111.76	0.92	0.11	1.057	0.146	0.171	3032.22	3087.62	2976.81	1684.31	2109.88	0	0	0	11.90	16.13	15.82
2381	end apogee: CONTROL_FINISHED_OK
state	2381	begin climb
2381.30	10759	146.63	1.10	-80.00	3031.1	3086.2	2975.9	1684.6	2110.2	155.37	0.00	349	2506.17	110.54	2.27	3.54	1.021	0.119	0.113	2432.72	2504.12	2361.31	2016.75	681.69	0	0	0	11.80	15.80	15.59
2509.01	5253	146.63	0.94	0.00	2432.3	2503.1	2361.5	2017.0	682.3	146.81	10.00	362	2516.62	0.00	0.40	3.44	0.000	0.185	0.047	2434.47	2504.50	2364.44	1969.81	2176.31	0	0	0	30.00	15.60	15.66
2697.58	260	146.63	0.94	80.00	2426.9	2492.9	2360.9	1969.4	2175.8	126.19	10.98	382	2703.66	0.00	0.00	3.51	0.000	0.000	0.108	2425.56	2491.38	2359.75	1968.69	3618.19	0	0	0	30.00	30.00	15.83
2747.66	17542	146.63	0.84	0.00	2425.4	2489.6	2361.3	1969.8	3617.1	119.84	13.13	392	2753.55	0.00	0.00	3.40	0.000	0.000	0.046	2423.94	2488.31	2359.56	1969.94	2118.75	0	0	0	30.00	30.00	15.89
2937.63	292	148.10	0.84	80.00	2424.9	2489.1	2360.8	1969.8	2117.4	100.55	9.63	412	2944.77	0.00	0.00	3.64	0.000	0.000	0.107	2424.38	2488.12	2360.62	1969.75	3616.69	0	0	0	30.00	30.00	15.94
2987.53	5253	148.10	0.76	0.00	2423.6	2486.3	2360.9	1968.9	3615.9	95.08	11.13	422	2995.08	0.00	0.29	3.37	0.000	0.173	0.046	2426.25	2488.56	2363.94	1924.50	2115.75	0	0	0	30.00	15.91	15.98
3195.65	10403	207.91	0.94	0.00	2423.6	2486.1	2361.1	1925.8	2116.1	80.59	7.01	442	3247.04	47.82	0.37	0.00	0.973	0.077	0.000	2182.78	2264.69	2100.88	1983.31	2114.62	0	0	0	11.85	16.01	30.00
3430.48	388	207.91	0.97	80.00	2179.0	2256.1	2101.9	1982.8	2114.8	55.49	10.91	466	3437.58	0.00	0.00	3.65	0.000	0.000	0.108	2177.28	2254.50	2100.06	1983.62	3616.69	0	0	0	30.00	30.00	15.91
3495.99	1028	207.91	0.97	0.00	2176.9	2251.9	2101.9	1983.5	3617.1	47.87	11.80	479	3502.69	0.00	0.00	3.37	0.000	0.000	0.048	2177.91	2252.75	2103.06	1983.38	2117.38	0	0	0	30.00	30.00	15.95
3686.18	160	208.00	1.01	0.00	2177.0	2251.9	2102.1	1983.4	2117.1	28.73	9.69	517	3690.70	0.00	0.00	0.00	0.000	0.000	0.000	2177.00	2252.31	2101.69	1983.88	2117.31	0	0	0	30.00	30.00	30.00
3874.18	10663	247.73	1.13	80.00	2176.6	2251.2	2101.9	1983.1	2117.2	11.66	7.91	555	3912.74	30.70	0.23	3.64	0.912	0.089	0.110	2021.44	2109.00	1933.88	2030.38	3616.56	0	0	0	11.78	16.04	15.92
4139.19	11431	471.91	1.52	0.00	2015.3	2097.8	1932.8	2030.4	3616.9	3.57	-0.37	607	4156.79	10.48	0.54	3.38	0.807	0.071	0.045	1973.59	2058.00	1889.19	2126.19	2110.06	0	0	0	11.97	16.01	16.03
4157	end climb: NO_VERTICAL_VELOCITY
state	4157	begin surface