Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 12 * 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 12 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 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 2997.0083 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 1754.5391 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 18.32881 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.798052 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 29.825163 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 0 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 19.798052 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.825163 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 18.32881 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 1754.5391 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 2997.0083 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 12 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 250522,155853,4736.477,-12256.640,1,1.7,4,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,160359,4736.545,-12256.562,2,1.8,5,15.5 MHEAD_RNG_PITCHd_Wd 193.0,1148,-17.1,-9.697,-20.82,2278,0.000

SPEED_LIMITS 0.168,0.255 D_GRID 169

TGT_NAME S IRON 1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653498434,22.6,1,stop _24V_AH 14.95,9.840

NET xm1t part outbox0002.n 1007 13 _10V_AH 14.99,0.000

NET_PING 1653498131,25,1732.705444,9.800000,-2.298888 FG_AHR_24Vo 29.987

MODEM_MSG CACST,8,1,20220525170001.278175,18,32767,33,0166,0000,246,02,02,02,03,-1,-01,-01,2,3,1,0,150,8.6,3.37,-100,-0.37,-01,0.07,61,925,0025,0,-1,00,00*1F FG_AHR_10Vo 19.829

FREEZE 2.58,13.186,-1.463,0,1,0 MEM0 60132,1,0,0

SM_CCo 4390.73,187.16,0.866,0,500.2,565.1,435.4,612.45 MEM1 65508,1,0,0

SM_GC 1.41,0.00,12.19,0.11,0.000,0.079,0.136,496.4,564.9,427.9,203.6,2184.4,0,0,0,30.00,15.57,15.58 MEM2 944688,29,102060,62

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16094,612

IRIDIUM_FIX 4739.20,-12253.53,250522,155930 CAP_FILE_SIZE 416772,0

TCM_TEMP 13.07 SDSIZE 3887104,3867712

SC_FREEKB 3874944 SDFILEDIR 140,1

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

MODEM 0,1653498001,47.61230,-122.96660,1.278,1872.5 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.021,335.1,1

HUMID 48.81 IMPLIED_C_PITCH 1756,18.44,325,1755.1,18.39

TEMP 10.83 IMPLIED_C_VBD 3121,45.390743,325,3059.1

INTERNAL_PRESSURE 8.11572 GPS 250522,172032,4736.211,-12256.891,28,1.4,29,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 686 1054 10815.37 nil 0 0 0.00

Pitch_motor 27 278 115.86 nil 0 0 0.00

Roll_motor 70 163 172.20 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 14 15 3.27 nil 0 0 0.00

Core 2495 5 191.52 SciCon 4193 6 437.46

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1857 0 8.91

Compass 1237 5 92.72

RAFOS 1089 40 653.27

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

4.64 16386 -146.63 -1.11 0.00 491.8 568.1 415.4 201.2 2104.0 0.00 0.00 0 100.66 91.34 0.00 0.00 0.005 0.000 0.000 2619.56 2595.62 2643.50 201.00 2103.75 0 0 0 16.04 30.00 30.00

101.02 18467 -146.63 -1.11 0.00 2618.8 2595.2 2642.4 201.1 2103.5 3.39 -2.39 18 151.60 30.80 10.35 0.00 0.005 0.279 0.000 3593.59 3586.25 3600.94 1484.19 2103.94 0 0 0 16.04 15.88 30.00

333.08 420 -146.63 -1.04 80.00 3595.3 3593.1 3597.5 1484.4 2103.8 20.39 -7.03 64 339.82 0.00 0.00 3.64 0.000 0.000 0.098 3596.62 3594.62 3598.62 1483.81 3620.88 0 0 0 30.00 30.00 16.02

423.45 3237 -146.63 -0.88 0.00 3595.4 3593.4 3597.3 1484.2 3620.6 28.03 -8.44 82 430.48 0.00 0.40 3.38 0.000 0.177 0.043 3596.09 3594.00 3598.19 1542.94 2112.12 0 0 0 30.00 16.00 16.06

612.32 160 -146.63 -0.92 0.00 3595.4 3594.2 3596.6 1542.9 2112.1 38.68 -5.40 119 616.93 0.00 0.00 0.00 0.000 0.000 0.000 3595.69 3594.56 3596.81 1543.12 2112.06 0 0 0 30.00 30.00 30.00

802.38 420 -146.63 -0.95 80.00 3595.7 3594.4 3597.0 1542.8 2112.6 49.31 -5.61 157 809.26 0.00 0.00 3.62 0.000 0.000 0.100 3595.44 3594.25 3596.62 1543.06 3618.81 0 0 0 30.00 30.00 16.08

887.17 1188 -146.63 -0.91 0.00 3595.4 3594.4 3596.4 1542.8 3619.2 55.11 -6.92 174 894.62 0.00 0.00 3.37 0.000 0.000 0.044 3596.16 3594.69 3597.62 1543.19 2114.88 0 0 0 30.00 30.00 16.11

1080.82 32 -146.63 -0.91 0.00 3595.7 3594.6 3596.8 1542.9 2113.8 66.93 -6.21 194 1082.44 0.00 0.00 0.00 0.000 0.000 0.000 3595.31 3594.31 3596.31 1543.12 2113.56 0 0 0 30.00 30.00 30.00

1270.86 292 -146.63 -0.91 80.00 3595.8 3594.9 3596.6 1543.4 2113.2 79.27 -6.49 213 1278.15 0.00 0.00 3.62 0.000 0.000 0.102 3596.53 3595.75 3597.31 1542.69 3618.00 0 0 0 30.00 30.00 16.11

1326.78 1188 -146.63 -0.85 0.00 3595.5 3594.6 3596.5 1542.8 3618.1 83.67 -8.12 224 1332.77 0.00 0.00 3.35 0.000 0.000 0.045 3595.81 3594.75 3596.88 1542.50 2114.50 0 0 0 30.00 30.00 16.14

1520.64 292 -146.63 -0.85 80.00 3595.6 3594.9 3596.2 1542.4 2114.9 97.05 -6.91 244 1527.95 0.00 0.00 3.62 0.000 0.000 0.101 3594.78 3594.12 3595.44 1542.81 3618.25 0 0 0 30.00 30.00 16.11

1556.48 1060 -146.63 -0.85 0.00 3595.2 3594.5 3595.9 1543.2 3617.6 99.95 -7.50 251 1562.57 0.00 0.00 3.37 0.000 0.000 0.045 3596.66 3596.31 3597.00 1542.38 2114.75 0 0 0 30.00 30.00 16.13

1746.60 160 -146.63 -0.88 0.00 3595.7 3594.9 3596.4 1542.6 2113.9 113.70 -7.24 271 1748.21 0.00 0.00 0.00 0.000 0.000 0.000 3595.25 3595.00 3595.50 1542.44 2114.31 0 0 0 30.00 30.00 30.00

1936.62 420 -146.63 -0.92 80.00 3595.3 3594.8 3595.8 1542.3 2114.8 127.74 -7.31 290 1943.84 0.00 0.00 3.62 0.000 0.000 0.103 3595.19 3594.75 3595.62 1542.81 3619.00 0 0 0 30.00 30.00 16.11

1976.63 1060 -146.63 -0.92 0.00 3595.6 3594.8 3596.4 1542.9 3619.4 131.15 -8.34 298 1984.19 0.00 0.00 3.37 0.000 0.000 0.045 3596.59 3595.56 3597.62 1542.44 2115.19 0 0 0 30.00 30.00 16.15

2170.49 160 -146.63 -0.97 0.00 3595.6 3595.2 3596.0 1542.4 2114.6 145.97 -7.63 318 2172.10 0.00 0.00 0.00 0.000 0.000 0.000 3594.97 3595.06 3594.88 1542.69 2114.50 0 0 0 30.00 30.00 30.00

2260 end dive: HALF_MISSION_TIME_EXCEEDED

state 2260 begin apogee

2262.09 10243 0.00 -0.27 0.00 3595.1 3594.9 3595.2 1543.0 2184.4 152.89 -7.66 327 2381.62 111.71 1.00 0.10 1.054 0.148 0.163 2996.22 3050.75 2941.69 1688.88 2114.75 0 0 0 11.83 16.09 15.78

2382 end apogee: CONTROL_FINISHED_OK

state 2382 begin climb

2382.79 10759 146.63 1.11 -80.00 2995.7 3049.9 2941.4 1688.9 2108.9 156.08 0.00 338 2517.72 115.53 2.29 3.57 1.012 0.118 0.114 2398.28 2466.69 2329.88 2025.62 683.50 0 0 0 11.76 15.75 15.54

2520.65 5253 146.63 0.94 0.00 2396.5 2464.3 2328.6 2026.2 683.1 144.89 11.36 359 2528.49 0.00 0.41 3.46 0.000 0.189 0.045 2397.50 2464.62 2330.38 1977.25 2176.06 0 0 0 30.00 15.53 15.61

2716.22 260 146.63 0.94 80.00 2392.6 2457.2 2327.9 1977.3 2175.9 124.12 10.29 379 2722.48 0.00 0.00 3.56 0.000 0.000 0.108 2389.50 2454.62 2324.38 1976.75 3616.50 0 0 0 30.00 30.00 15.78

2766.33 17542 146.63 0.85 0.00 2390.8 2453.9 2327.7 1976.6 3617.0 118.30 11.93 389 2772.46 0.00 0.00 3.42 0.000 0.000 0.045 2389.25 2452.50 2326.00 1976.94 2119.88 0 0 0 30.00 30.00 15.84

2956.24 16386 146.63 0.85 0.00 2390.2 2453.1 2327.4 1977.2 2119.4 98.39 10.38 409 2957.85 0.00 0.00 0.00 0.000 0.000 0.000 2389.56 2452.94 2326.19 1976.50 2118.94 0 0 0 30.00 30.00 30.00

3146.32 292 148.53 0.86 80.00 2390.2 2452.9 2327.5 1976.9 2119.2 79.81 9.61 428 3153.67 0.00 0.00 3.65 0.000 0.000 0.106 2388.41 2450.88 2325.94 1976.38 3620.88 0 0 0 30.00 30.00 15.95

3186.50 5253 148.53 0.79 0.00 2388.5 2449.6 2327.3 1976.3 3620.9 75.45 10.79 436 3194.27 0.00 0.25 3.40 0.000 0.183 0.045 2390.94 2451.81 2330.06 1938.94 2117.38 0 0 0 30.00 15.91 15.98

3377.77 10663 201.49 0.94 80.00 2388.4 2449.9 2326.9 1938.7 2116.8 61.17 7.32 455 3432.46 42.49 0.32 3.67 0.961 0.077 0.108 2175.16 2252.69 2097.62 1989.44 3616.81 0 0 0 11.77 15.99 15.84

3454.43 1028 201.49 0.94 0.00 2171.0 2246.6 2095.4 1989.0 3616.8 53.12 12.11 469 3466.27 0.00 0.00 3.42 0.000 0.000 0.045 2171.06 2247.00 2095.12 1990.06 2116.44 0 0 0 30.00 30.00 15.86

3649.32 0 201.49 0.94 0.00 2169.3 2243.5 2095.1 1989.7 2117.2 32.71 10.13 506 3653.91 0.00 0.00 0.00 0.000 0.000 0.000 2169.38 2243.75 2095.00 1989.25 2117.38 0 0 0 30.00 30.00 30.00

3834.52 8614 213.59 1.01 80.00 2168.9 2242.4 2095.4 1989.4 2117.2 15.35 9.15 543 3856.14 10.85 0.00 3.67 0.821 0.000 0.109 2125.50 2201.44 2049.56 1990.00 3616.38 0 0 0 11.70 30.00 15.93

4083.26 11431 375.80 1.36 0.00 2121.5 2194.4 2048.6 1990.1 3616.6 3.09 2.41 592 4191.06 96.31 0.58 3.40 0.914 0.074 0.044 1590.00 1699.38 1480.62 2092.50 2111.38 0 0 0 11.78 16.00 16.01

4191 end climb: NO_VERTICAL_VELOCITY

state 4191 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	12	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	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	2997.0083	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	1754.5391	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	18.32881	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.798052	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	29.825163	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	250522,155853,4736.477,-12256.640,1,1.7,4,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,160359,4736.545,-12256.562,2,1.8,5,15.5	MHEAD_RNG_PITCHd_Wd	193.0,1148,-17.1,-9.697,-20.82,2278,0.000
SPEED_LIMITS	0.168,0.255	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887
TGT_LATLONG	4736.000,-12257.000

NAV	1653498434,22.6,1,stop	_24V_AH	14.95,9.840
NET	xm1t part outbox0002.n 1007 13	_10V_AH	14.99,0.000
NET_PING	1653498131,25,1732.705444,9.800000,-2.298888	FG_AHR_24Vo	29.987
MODEM_MSG	CACST,8,1,20220525170001.278175,18,32767,33,0166,0000,246,02,02,02,03,-1,-01,-01,2,3,1,0,150,8.6,3.37,-100,-0.37,-01,0.07,61,925,0025,0,-1,00,00*1F	FG_AHR_10Vo	19.829
FREEZE	2.58,13.186,-1.463,0,1,0	MEM0	60132,1,0,0
SM_CCo	4390.73,187.16,0.866,0,500.2,565.1,435.4,612.45	MEM1	65508,1,0,0
SM_GC	1.41,0.00,12.19,0.11,0.000,0.079,0.136,496.4,564.9,427.9,203.6,2184.4,0,0,0,30.00,15.57,15.58	MEM2	944688,29,102060,62
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16094,612
IRIDIUM_FIX	4739.20,-12253.53,250522,155930	CAP_FILE_SIZE	416772,0
TCM_TEMP	13.07	SDSIZE	3887104,3867712
SC_FREEKB	3874944	SDFILEDIR	140,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1653498001,47.61230,-122.96660,1.278,1872.5	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.021,335.1,1
HUMID	48.81	IMPLIED_C_PITCH	1756,18.44,325,1755.1,18.39
TEMP	10.83	IMPLIED_C_VBD	3121,45.390743,325,3059.1
INTERNAL_PRESSURE	8.11572	GPS	250522,172032,4736.211,-12256.891,28,1.4,29,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	686	1054	10815.37	nil	0	0	0.00
Pitch_motor	27	278	115.86	nil	0	0	0.00
Roll_motor	70	163	172.20	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	14	15	3.27	nil	0	0	0.00
Core	2495	5	191.52	SciCon	4193	6	437.46
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1857	0	8.91
Compass	1237	5	92.72
RAFOS	1089	40	653.27
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
4.64	16386	-146.63	-1.11	0.00	491.8	568.1	415.4	201.2	2104.0	0.00	0.00	0	100.66	91.34	0.00	0.00	0.005	0.000	0.000	2619.56	2595.62	2643.50	201.00	2103.75	0	0	0	16.04	30.00	30.00
101.02	18467	-146.63	-1.11	0.00	2618.8	2595.2	2642.4	201.1	2103.5	3.39	-2.39	18	151.60	30.80	10.35	0.00	0.005	0.279	0.000	3593.59	3586.25	3600.94	1484.19	2103.94	0	0	0	16.04	15.88	30.00
333.08	420	-146.63	-1.04	80.00	3595.3	3593.1	3597.5	1484.4	2103.8	20.39	-7.03	64	339.82	0.00	0.00	3.64	0.000	0.000	0.098	3596.62	3594.62	3598.62	1483.81	3620.88	0	0	0	30.00	30.00	16.02
423.45	3237	-146.63	-0.88	0.00	3595.4	3593.4	3597.3	1484.2	3620.6	28.03	-8.44	82	430.48	0.00	0.40	3.38	0.000	0.177	0.043	3596.09	3594.00	3598.19	1542.94	2112.12	0	0	0	30.00	16.00	16.06
612.32	160	-146.63	-0.92	0.00	3595.4	3594.2	3596.6	1542.9	2112.1	38.68	-5.40	119	616.93	0.00	0.00	0.00	0.000	0.000	0.000	3595.69	3594.56	3596.81	1543.12	2112.06	0	0	0	30.00	30.00	30.00
802.38	420	-146.63	-0.95	80.00	3595.7	3594.4	3597.0	1542.8	2112.6	49.31	-5.61	157	809.26	0.00	0.00	3.62	0.000	0.000	0.100	3595.44	3594.25	3596.62	1543.06	3618.81	0	0	0	30.00	30.00	16.08
887.17	1188	-146.63	-0.91	0.00	3595.4	3594.4	3596.4	1542.8	3619.2	55.11	-6.92	174	894.62	0.00	0.00	3.37	0.000	0.000	0.044	3596.16	3594.69	3597.62	1543.19	2114.88	0	0	0	30.00	30.00	16.11
1080.82	32	-146.63	-0.91	0.00	3595.7	3594.6	3596.8	1542.9	2113.8	66.93	-6.21	194	1082.44	0.00	0.00	0.00	0.000	0.000	0.000	3595.31	3594.31	3596.31	1543.12	2113.56	0	0	0	30.00	30.00	30.00
1270.86	292	-146.63	-0.91	80.00	3595.8	3594.9	3596.6	1543.4	2113.2	79.27	-6.49	213	1278.15	0.00	0.00	3.62	0.000	0.000	0.102	3596.53	3595.75	3597.31	1542.69	3618.00	0	0	0	30.00	30.00	16.11
1326.78	1188	-146.63	-0.85	0.00	3595.5	3594.6	3596.5	1542.8	3618.1	83.67	-8.12	224	1332.77	0.00	0.00	3.35	0.000	0.000	0.045	3595.81	3594.75	3596.88	1542.50	2114.50	0	0	0	30.00	30.00	16.14
1520.64	292	-146.63	-0.85	80.00	3595.6	3594.9	3596.2	1542.4	2114.9	97.05	-6.91	244	1527.95	0.00	0.00	3.62	0.000	0.000	0.101	3594.78	3594.12	3595.44	1542.81	3618.25	0	0	0	30.00	30.00	16.11
1556.48	1060	-146.63	-0.85	0.00	3595.2	3594.5	3595.9	1543.2	3617.6	99.95	-7.50	251	1562.57	0.00	0.00	3.37	0.000	0.000	0.045	3596.66	3596.31	3597.00	1542.38	2114.75	0	0	0	30.00	30.00	16.13
1746.60	160	-146.63	-0.88	0.00	3595.7	3594.9	3596.4	1542.6	2113.9	113.70	-7.24	271	1748.21	0.00	0.00	0.00	0.000	0.000	0.000	3595.25	3595.00	3595.50	1542.44	2114.31	0	0	0	30.00	30.00	30.00
1936.62	420	-146.63	-0.92	80.00	3595.3	3594.8	3595.8	1542.3	2114.8	127.74	-7.31	290	1943.84	0.00	0.00	3.62	0.000	0.000	0.103	3595.19	3594.75	3595.62	1542.81	3619.00	0	0	0	30.00	30.00	16.11
1976.63	1060	-146.63	-0.92	0.00	3595.6	3594.8	3596.4	1542.9	3619.4	131.15	-8.34	298	1984.19	0.00	0.00	3.37	0.000	0.000	0.045	3596.59	3595.56	3597.62	1542.44	2115.19	0	0	0	30.00	30.00	16.15
2170.49	160	-146.63	-0.97	0.00	3595.6	3595.2	3596.0	1542.4	2114.6	145.97	-7.63	318	2172.10	0.00	0.00	0.00	0.000	0.000	0.000	3594.97	3595.06	3594.88	1542.69	2114.50	0	0	0	30.00	30.00	30.00
2260	end dive: HALF_MISSION_TIME_EXCEEDED
state	2260	begin apogee
2262.09	10243	0.00	-0.27	0.00	3595.1	3594.9	3595.2	1543.0	2184.4	152.89	-7.66	327	2381.62	111.71	1.00	0.10	1.054	0.148	0.163	2996.22	3050.75	2941.69	1688.88	2114.75	0	0	0	11.83	16.09	15.78
2382	end apogee: CONTROL_FINISHED_OK
state	2382	begin climb
2382.79	10759	146.63	1.11	-80.00	2995.7	3049.9	2941.4	1688.9	2108.9	156.08	0.00	338	2517.72	115.53	2.29	3.57	1.012	0.118	0.114	2398.28	2466.69	2329.88	2025.62	683.50	0	0	0	11.76	15.75	15.54
2520.65	5253	146.63	0.94	0.00	2396.5	2464.3	2328.6	2026.2	683.1	144.89	11.36	359	2528.49	0.00	0.41	3.46	0.000	0.189	0.045	2397.50	2464.62	2330.38	1977.25	2176.06	0	0	0	30.00	15.53	15.61
2716.22	260	146.63	0.94	80.00	2392.6	2457.2	2327.9	1977.3	2175.9	124.12	10.29	379	2722.48	0.00	0.00	3.56	0.000	0.000	0.108	2389.50	2454.62	2324.38	1976.75	3616.50	0	0	0	30.00	30.00	15.78
2766.33	17542	146.63	0.85	0.00	2390.8	2453.9	2327.7	1976.6	3617.0	118.30	11.93	389	2772.46	0.00	0.00	3.42	0.000	0.000	0.045	2389.25	2452.50	2326.00	1976.94	2119.88	0	0	0	30.00	30.00	15.84
2956.24	16386	146.63	0.85	0.00	2390.2	2453.1	2327.4	1977.2	2119.4	98.39	10.38	409	2957.85	0.00	0.00	0.00	0.000	0.000	0.000	2389.56	2452.94	2326.19	1976.50	2118.94	0	0	0	30.00	30.00	30.00
3146.32	292	148.53	0.86	80.00	2390.2	2452.9	2327.5	1976.9	2119.2	79.81	9.61	428	3153.67	0.00	0.00	3.65	0.000	0.000	0.106	2388.41	2450.88	2325.94	1976.38	3620.88	0	0	0	30.00	30.00	15.95
3186.50	5253	148.53	0.79	0.00	2388.5	2449.6	2327.3	1976.3	3620.9	75.45	10.79	436	3194.27	0.00	0.25	3.40	0.000	0.183	0.045	2390.94	2451.81	2330.06	1938.94	2117.38	0	0	0	30.00	15.91	15.98
3377.77	10663	201.49	0.94	80.00	2388.4	2449.9	2326.9	1938.7	2116.8	61.17	7.32	455	3432.46	42.49	0.32	3.67	0.961	0.077	0.108	2175.16	2252.69	2097.62	1989.44	3616.81	0	0	0	11.77	15.99	15.84
3454.43	1028	201.49	0.94	0.00	2171.0	2246.6	2095.4	1989.0	3616.8	53.12	12.11	469	3466.27	0.00	0.00	3.42	0.000	0.000	0.045	2171.06	2247.00	2095.12	1990.06	2116.44	0	0	0	30.00	30.00	15.86
3649.32	0	201.49	0.94	0.00	2169.3	2243.5	2095.1	1989.7	2117.2	32.71	10.13	506	3653.91	0.00	0.00	0.00	0.000	0.000	0.000	2169.38	2243.75	2095.00	1989.25	2117.38	0	0	0	30.00	30.00	30.00
3834.52	8614	213.59	1.01	80.00	2168.9	2242.4	2095.4	1989.4	2117.2	15.35	9.15	543	3856.14	10.85	0.00	3.67	0.821	0.000	0.109	2125.50	2201.44	2049.56	1990.00	3616.38	0	0	0	11.70	30.00	15.93
4083.26	11431	375.80	1.36	0.00	2121.5	2194.4	2048.6	1990.1	3616.6	3.09	2.41	592	4191.06	96.31	0.58	3.40	0.914	0.074	0.044	1590.00	1699.38	1480.62	2092.50	2111.38	0	0	0	11.78	16.00	16.01
4191	end climb: NO_VERTICAL_VELOCITY
state	4191	begin surface