Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 13 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 607.84076 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 -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3019.3474 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 66

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 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1791.3507 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 17.913368 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.442505 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.6609015 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 -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 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 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.442505 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.6609015 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 17.913368 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 3600 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 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 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1791.3507 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 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 3019.3474 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 72626 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 13 MISSION 4 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 250522,143706,4736.927,-12256.625,1,0.9,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,144029,4736.980,-12256.547,3,0.8,5,15.5 MHEAD_RNG_PITCHd_Wd 187.6,1901,-17.1,-9.697,-20.82,2278,0.144

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220525152811.087414,06,15320,41,0091,0150,07,00,00,00,00,-1,-01,-01,1,3,7,0,150,10.6,0.47,-100,2.53,-01,6.15,76,10000,5000,0,-1,00,00*5A FG_AHR_24Vo 7.819

NET_PING 1653491295,25,1507.356079,10.800000,-2.004795 FG_AHR_10Vo 15.470

NAV 1653492912,47.0,0,stop MEM0 60132,1,0,0

FINISH 1.5,1.020061 MEM1 65508,1,0,0

SM_CCo 4188.52,205.66,0.939,0,541.6,558.0,525.2,607.70 MEM2 944472,35,102156,62

SM_GC 1.48,205.66,12.48,0.09,0.939,0.077,0.152,541.6,558.0,525.2,183.9,2118.2,0,0,0,11.85,15.89,15.91 DATA_FILE_SIZE 16114,556

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 393303,0

IRIDIUM_FIX 4738.44,-12319.25,250522,132704 SDSIZE 3887104,3868096

TCM_TEMP 17.56 SDFILEDIR 141,1

SC_FREEKB 3874624 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 CURRENT 0.092, 30.4,1

HUMID 49.37 MAGCAL 1.000000,0.013346,-0.195890,-0.020890,1.117834,-0.024321,0.030265,-0.121160,1.149647,198.0,-916.2,-520.6,30,0.0302,0

TEMP 9.72 IMPLIED_C_PITCH 1792,17.63,291,1791.9,17.77

INTERNAL_PRESSURE 7.96523 IMPLIED_C_VBD 2995,23.618916,291,3007.3

_24V_AH 14.91,8.982 GPS 250522,155112,4736.767,-12256.697,1,0.9,3,15.5

_10V_AH 14.89,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 637 1148 10911.87 nil 0 0 0.00

Pitch_motor 29 252 112.61 nil 0 0 0.00

Roll_motor 78 201 235.85 nil 0 0 0.00

Iridium 134 225 453.04 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 2437 5 185.80 SciCon 3955 6 382.78

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1712 0 8.16

Compass 1134 5 84.46

RAFOS 864 40 514.76

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

6.68 16386 -146.63 -1.13 0.00 543.4 562.2 524.6 186.3 2169.6 0.00 0.00 0 91.94 81.32 0.00 0.00 0.005 0.000 0.000 2793.94 2832.56 2755.31 186.19 2169.56 0 0 0 15.78 30.00 30.00

92.24 18727 -146.63 -1.13 80.00 2792.5 2831.0 2754.0 186.1 2169.6 3.27 -2.50 16 137.51 20.70 10.47 3.57 0.006 0.252 0.129 3616.84 3676.25 3557.44 1515.19 3616.94 0 0 0 15.86 15.69 15.76

146.00 3205 -146.63 -0.84 0.00 3617.2 3674.0 3560.5 1514.8 3616.6 10.45 -14.01 26 153.03 0.00 0.51 3.47 0.000 0.184 0.054 3618.03 3675.50 3560.56 1587.75 2121.12 0 0 0 30.00 15.75 15.81

336.55 160 -146.63 -0.88 0.00 3617.8 3675.2 3560.4 1587.6 2120.6 27.10 -8.29 64 341.07 0.00 0.00 0.00 0.000 0.000 0.000 3618.47 3675.81 3561.12 1587.25 2120.81 0 0 0 30.00 30.00 30.00

525.88 420 -146.63 -0.93 80.00 3618.2 3675.2 3561.1 1587.6 2121.1 41.53 -7.71 101 532.78 0.00 0.00 3.68 0.000 0.000 0.124 3620.12 3676.12 3564.12 1587.00 3616.75 0 0 0 30.00 30.00 15.91

611.33 1060 -146.63 -0.93 0.00 3618.9 3675.4 3562.3 1587.4 3616.4 49.14 -9.10 118 618.21 0.00 0.00 3.43 0.000 0.000 0.054 3619.19 3675.62 3562.75 1587.56 2122.38 0 0 0 30.00 30.00 15.97

801.80 4257 -146.63 -1.00 0.00 3619.0 3675.6 3562.4 1587.1 2122.9 64.00 -7.69 138 803.72 0.00 0.32 0.00 0.000 0.075 0.000 3618.03 3674.88 3561.19 1535.75 2122.75 0 0 0 30.00 16.00 30.00

991.84 2725 -146.63 -0.96 -80.00 3618.8 3675.9 3561.8 1535.3 2122.8 82.18 -9.66 157 999.25 0.00 0.23 3.55 0.000 0.170 0.127 3618.06 3674.94 3561.19 1559.69 680.31 0 0 0 30.00 16.01 16.00

1017.72 1028 -146.63 -0.96 0.00 3619.0 3675.8 3562.1 1559.2 680.9 84.79 -9.82 162 1029.59 0.00 0.00 3.38 0.000 0.000 0.058 3619.16 3675.19 3563.12 1559.44 2175.06 0 0 0 30.00 30.00 16.04

1210.07 292 -146.63 -0.96 80.00 3619.0 3675.6 3562.4 1559.1 2175.2 101.65 -8.51 181 1216.30 0.00 0.00 3.52 0.000 0.000 0.126 3617.47 3674.62 3560.31 1559.81 3614.88 0 0 0 30.00 30.00 16.00

1244.35 1060 -146.63 -0.96 0.00 3619.4 3675.4 3563.3 1559.5 3615.6 105.03 -9.17 188 1251.97 0.00 0.00 3.45 0.000 0.000 0.055 3619.62 3676.31 3562.94 1559.38 2121.62 0 0 0 30.00 30.00 16.03

1440.10 292 -146.63 -0.96 80.00 3619.3 3675.4 3563.2 1559.2 2121.2 122.02 -8.75 208 1447.42 0.00 0.00 3.65 0.000 0.000 0.122 3621.22 3677.56 3564.88 1558.50 3614.94 0 0 0 30.00 30.00 16.01

1470.21 1060 -146.63 -0.96 0.00 3619.0 3675.1 3562.9 1559.4 3615.5 124.99 -9.16 214 1477.84 0.00 0.00 3.44 0.000 0.000 0.055 3619.78 3676.31 3563.25 1559.69 2120.81 0 0 0 30.00 30.00 16.04

1665.88 32 -146.63 -0.96 0.00 3619.2 3675.8 3562.6 1559.1 2120.5 142.17 -8.69 234 1675.73 0.00 0.00 0.00 0.000 0.000 0.000 3619.72 3676.44 3563.00 1559.56 2120.56 0 0 0 30.00 30.00 30.00

1861.00 32 -146.63 -0.96 0.00 3619.5 3676.2 3562.8 1559.7 2120.8 157.91 -8.14 254 1862.61 0.00 0.00 0.00 0.000 0.000 0.000 3618.09 3674.69 3561.50 1559.06 2120.94 0 0 0 30.00 30.00 30.00

1891 end dive: TARGET_DEPTH_EXCEEDED

state 1891 begin apogee

1892.32 10243 0.00 -0.28 0.00 3619.1 3675.2 3563.0 1559.4 2178.1 160.36 -8.24 257 2006.65 102.89 1.11 0.09 1.148 0.150 0.202 3019.12 3074.88 2963.38 1724.50 2118.31 0 0 0 12.00 16.04 15.71

2008 end apogee: CONTROL_FINISHED_OK

state 2008 begin climb

2007.84 10759 146.63 1.13 -80.00 3017.1 3074.2 2960.0 1724.9 2118.5 164.38 0.00 268 2132.39 106.53 2.35 3.70 1.112 0.118 0.132 2416.78 2485.31 2348.25 2067.19 684.69 0 0 0 11.92 15.72 15.47

2140.95 5253 146.63 0.99 0.00 2414.5 2484.2 2344.9 2066.8 684.6 154.62 11.03 285 2148.40 0.00 0.34 3.47 0.000 0.165 0.059 2412.84 2482.81 2342.88 2026.44 2170.69 0 0 0 30.00 15.52 15.56

2335.87 16902 146.63 0.99 -80.00 2412.3 2484.0 2340.7 2026.8 2170.8 134.82 9.91 305 2343.34 0.00 0.00 3.74 0.000 0.000 0.126 2410.62 2482.75 2338.50 2026.44 684.56 0 0 0 30.00 30.00 15.73

2391.91 17542 146.63 0.90 0.00 2410.5 2482.1 2338.9 2026.1 684.4 128.64 11.38 316 2398.07 0.00 0.00 3.41 0.000 0.000 0.059 2411.66 2483.88 2339.44 2026.00 2170.19 0 0 0 30.00 30.00 15.80

2581.89 8226 151.65 0.90 0.00 2410.3 2482.6 2337.9 2025.9 2170.9 110.12 9.47 336 2587.89 4.96 0.00 0.00 0.601 0.000 0.000 2398.84 2472.38 2325.31 2026.56 2171.12 0 0 0 11.91 30.00 30.00

2771.93 8742 168.88 0.92 -80.00 2398.2 2472.9 2323.6 2025.8 2169.9 92.90 8.92 355 2794.97 15.29 0.00 3.72 0.963 0.000 0.128 2327.44 2402.81 2252.06 2026.06 684.31 0 0 0 11.89 30.00 15.85

2831.02 5253 168.88 0.87 0.00 2325.6 2400.9 2250.3 2026.4 684.3 86.42 12.04 366 2838.84 0.00 0.21 3.40 0.000 0.167 0.059 2326.09 2401.62 2250.56 1993.50 2169.81 0 0 0 30.00 15.84 15.87

3021.37 10919 199.55 1.00 -80.00 2324.9 2401.1 2248.7 1992.8 2169.1 70.40 8.32 385 3055.08 24.30 0.31 3.73 0.990 0.076 0.128 2204.22 2281.88 2126.56 2044.25 682.94 0 0 0 11.98 15.93 15.82

3103.66 5253 199.55 0.92 0.00 2200.1 2278.6 2121.6 2044.1 682.7 60.59 13.16 401 3111.18 0.00 0.30 3.41 0.000 0.158 0.060 2200.53 2280.25 2120.81 2005.94 2170.62 0 0 0 30.00 15.84 15.89

3294.16 10919 231.29 1.05 -80.00 2198.1 2278.6 2117.6 2005.6 2170.4 43.70 8.27 427 3327.85 24.47 0.29 3.73 0.961 0.077 0.127 2075.31 2156.75 1993.88 2056.19 683.25 0 0 0 11.94 15.95 15.83

3356.41 5253 231.29 0.99 0.00 2071.8 2154.1 1989.5 2056.0 683.4 36.65 12.64 439 3363.50 0.00 0.25 3.41 0.000 0.158 0.059 2071.66 2154.38 1988.94 2024.00 2168.56 0 0 0 30.00 15.84 15.89

3547.96 10919 252.94 1.11 -80.00 2069.3 2153.8 1984.9 2023.9 2169.0 18.50 8.72 477 3576.22 17.24 0.27 3.70 0.911 0.079 0.128 1985.44 2072.50 1898.38 2070.19 682.25 0 0 0 11.92 15.95 15.86

3619.70 1028 252.94 1.11 0.00 1982.6 2070.7 1894.4 2070.0 682.2 10.21 12.47 491 3626.65 0.00 0.00 3.41 0.000 0.000 0.058 1982.47 2070.69 1894.25 2070.19 2171.75 0 0 0 30.00 30.00 15.92

3810.26 10919 414.62 1.47 -80.00 1980.9 2070.4 1891.5 2070.3 2171.6 2.16 2.43 529 3847.52 34.10 0.50 0.00 0.939 0.078 0.000 1799.81 1892.31 1707.31 2151.69 2172.00 0 0 0 12.06 15.98 30.00

3848 end climb: SURFACE_DEPTH_REACHED

state 3848 begin surface coast

3946 end surface coast: NO_VERTICAL_VELOCITY

state 3946 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	13	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	607.84076	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	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3019.3474	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	66
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	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1791.3507	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	17.913368	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.442505	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.6609015	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	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	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	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	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	250522,143706,4736.927,-12256.625,1,0.9,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,144029,4736.980,-12256.547,3,0.8,5,15.5	MHEAD_RNG_PITCHd_Wd	187.6,1901,-17.1,-9.697,-20.82,2278,0.144
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220525152811.087414,06,15320,41,0091,0150,07,00,00,00,00,-1,-01,-01,1,3,7,0,150,10.6,0.47,-100,2.53,-01,6.15,76,10000,5000,0,-1,00,00*5A	FG_AHR_24Vo	7.819
NET_PING	1653491295,25,1507.356079,10.800000,-2.004795	FG_AHR_10Vo	15.470
NAV	1653492912,47.0,0,stop	MEM0	60132,1,0,0
FINISH	1.5,1.020061	MEM1	65508,1,0,0
SM_CCo	4188.52,205.66,0.939,0,541.6,558.0,525.2,607.70	MEM2	944472,35,102156,62
SM_GC	1.48,205.66,12.48,0.09,0.939,0.077,0.152,541.6,558.0,525.2,183.9,2118.2,0,0,0,11.85,15.89,15.91	DATA_FILE_SIZE	16114,556
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	393303,0
IRIDIUM_FIX	4738.44,-12319.25,250522,132704	SDSIZE	3887104,3868096
TCM_TEMP	17.56	SDFILEDIR	141,1
SC_FREEKB	3874624	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	CURRENT	0.092, 30.4,1
HUMID	49.37	MAGCAL	1.000000,0.013346,-0.195890,-0.020890,1.117834,-0.024321,0.030265,-0.121160,1.149647,198.0,-916.2,-520.6,30,0.0302,0
TEMP	9.72	IMPLIED_C_PITCH	1792,17.63,291,1791.9,17.77
INTERNAL_PRESSURE	7.96523	IMPLIED_C_VBD	2995,23.618916,291,3007.3
_24V_AH	14.91,8.982	GPS	250522,155112,4736.767,-12256.697,1,0.9,3,15.5
_10V_AH	14.89,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	637	1148	10911.87	nil	0	0	0.00
Pitch_motor	29	252	112.61	nil	0	0	0.00
Roll_motor	78	201	235.85	nil	0	0	0.00
Iridium	134	225	453.04	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	2437	5	185.80	SciCon	3955	6	382.78
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1712	0	8.16
Compass	1134	5	84.46
RAFOS	864	40	514.76
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
6.68	16386	-146.63	-1.13	0.00	543.4	562.2	524.6	186.3	2169.6	0.00	0.00	0	91.94	81.32	0.00	0.00	0.005	0.000	0.000	2793.94	2832.56	2755.31	186.19	2169.56	0	0	0	15.78	30.00	30.00
92.24	18727	-146.63	-1.13	80.00	2792.5	2831.0	2754.0	186.1	2169.6	3.27	-2.50	16	137.51	20.70	10.47	3.57	0.006	0.252	0.129	3616.84	3676.25	3557.44	1515.19	3616.94	0	0	0	15.86	15.69	15.76
146.00	3205	-146.63	-0.84	0.00	3617.2	3674.0	3560.5	1514.8	3616.6	10.45	-14.01	26	153.03	0.00	0.51	3.47	0.000	0.184	0.054	3618.03	3675.50	3560.56	1587.75	2121.12	0	0	0	30.00	15.75	15.81
336.55	160	-146.63	-0.88	0.00	3617.8	3675.2	3560.4	1587.6	2120.6	27.10	-8.29	64	341.07	0.00	0.00	0.00	0.000	0.000	0.000	3618.47	3675.81	3561.12	1587.25	2120.81	0	0	0	30.00	30.00	30.00
525.88	420	-146.63	-0.93	80.00	3618.2	3675.2	3561.1	1587.6	2121.1	41.53	-7.71	101	532.78	0.00	0.00	3.68	0.000	0.000	0.124	3620.12	3676.12	3564.12	1587.00	3616.75	0	0	0	30.00	30.00	15.91
611.33	1060	-146.63	-0.93	0.00	3618.9	3675.4	3562.3	1587.4	3616.4	49.14	-9.10	118	618.21	0.00	0.00	3.43	0.000	0.000	0.054	3619.19	3675.62	3562.75	1587.56	2122.38	0	0	0	30.00	30.00	15.97
801.80	4257	-146.63	-1.00	0.00	3619.0	3675.6	3562.4	1587.1	2122.9	64.00	-7.69	138	803.72	0.00	0.32	0.00	0.000	0.075	0.000	3618.03	3674.88	3561.19	1535.75	2122.75	0	0	0	30.00	16.00	30.00
991.84	2725	-146.63	-0.96	-80.00	3618.8	3675.9	3561.8	1535.3	2122.8	82.18	-9.66	157	999.25	0.00	0.23	3.55	0.000	0.170	0.127	3618.06	3674.94	3561.19	1559.69	680.31	0	0	0	30.00	16.01	16.00
1017.72	1028	-146.63	-0.96	0.00	3619.0	3675.8	3562.1	1559.2	680.9	84.79	-9.82	162	1029.59	0.00	0.00	3.38	0.000	0.000	0.058	3619.16	3675.19	3563.12	1559.44	2175.06	0	0	0	30.00	30.00	16.04
1210.07	292	-146.63	-0.96	80.00	3619.0	3675.6	3562.4	1559.1	2175.2	101.65	-8.51	181	1216.30	0.00	0.00	3.52	0.000	0.000	0.126	3617.47	3674.62	3560.31	1559.81	3614.88	0	0	0	30.00	30.00	16.00
1244.35	1060	-146.63	-0.96	0.00	3619.4	3675.4	3563.3	1559.5	3615.6	105.03	-9.17	188	1251.97	0.00	0.00	3.45	0.000	0.000	0.055	3619.62	3676.31	3562.94	1559.38	2121.62	0	0	0	30.00	30.00	16.03
1440.10	292	-146.63	-0.96	80.00	3619.3	3675.4	3563.2	1559.2	2121.2	122.02	-8.75	208	1447.42	0.00	0.00	3.65	0.000	0.000	0.122	3621.22	3677.56	3564.88	1558.50	3614.94	0	0	0	30.00	30.00	16.01
1470.21	1060	-146.63	-0.96	0.00	3619.0	3675.1	3562.9	1559.4	3615.5	124.99	-9.16	214	1477.84	0.00	0.00	3.44	0.000	0.000	0.055	3619.78	3676.31	3563.25	1559.69	2120.81	0	0	0	30.00	30.00	16.04
1665.88	32	-146.63	-0.96	0.00	3619.2	3675.8	3562.6	1559.1	2120.5	142.17	-8.69	234	1675.73	0.00	0.00	0.00	0.000	0.000	0.000	3619.72	3676.44	3563.00	1559.56	2120.56	0	0	0	30.00	30.00	30.00
1861.00	32	-146.63	-0.96	0.00	3619.5	3676.2	3562.8	1559.7	2120.8	157.91	-8.14	254	1862.61	0.00	0.00	0.00	0.000	0.000	0.000	3618.09	3674.69	3561.50	1559.06	2120.94	0	0	0	30.00	30.00	30.00
1891	end dive: TARGET_DEPTH_EXCEEDED
state	1891	begin apogee
1892.32	10243	0.00	-0.28	0.00	3619.1	3675.2	3563.0	1559.4	2178.1	160.36	-8.24	257	2006.65	102.89	1.11	0.09	1.148	0.150	0.202	3019.12	3074.88	2963.38	1724.50	2118.31	0	0	0	12.00	16.04	15.71
2008	end apogee: CONTROL_FINISHED_OK
state	2008	begin climb
2007.84	10759	146.63	1.13	-80.00	3017.1	3074.2	2960.0	1724.9	2118.5	164.38	0.00	268	2132.39	106.53	2.35	3.70	1.112	0.118	0.132	2416.78	2485.31	2348.25	2067.19	684.69	0	0	0	11.92	15.72	15.47
2140.95	5253	146.63	0.99	0.00	2414.5	2484.2	2344.9	2066.8	684.6	154.62	11.03	285	2148.40	0.00	0.34	3.47	0.000	0.165	0.059	2412.84	2482.81	2342.88	2026.44	2170.69	0	0	0	30.00	15.52	15.56
2335.87	16902	146.63	0.99	-80.00	2412.3	2484.0	2340.7	2026.8	2170.8	134.82	9.91	305	2343.34	0.00	0.00	3.74	0.000	0.000	0.126	2410.62	2482.75	2338.50	2026.44	684.56	0	0	0	30.00	30.00	15.73
2391.91	17542	146.63	0.90	0.00	2410.5	2482.1	2338.9	2026.1	684.4	128.64	11.38	316	2398.07	0.00	0.00	3.41	0.000	0.000	0.059	2411.66	2483.88	2339.44	2026.00	2170.19	0	0	0	30.00	30.00	15.80
2581.89	8226	151.65	0.90	0.00	2410.3	2482.6	2337.9	2025.9	2170.9	110.12	9.47	336	2587.89	4.96	0.00	0.00	0.601	0.000	0.000	2398.84	2472.38	2325.31	2026.56	2171.12	0	0	0	11.91	30.00	30.00
2771.93	8742	168.88	0.92	-80.00	2398.2	2472.9	2323.6	2025.8	2169.9	92.90	8.92	355	2794.97	15.29	0.00	3.72	0.963	0.000	0.128	2327.44	2402.81	2252.06	2026.06	684.31	0	0	0	11.89	30.00	15.85
2831.02	5253	168.88	0.87	0.00	2325.6	2400.9	2250.3	2026.4	684.3	86.42	12.04	366	2838.84	0.00	0.21	3.40	0.000	0.167	0.059	2326.09	2401.62	2250.56	1993.50	2169.81	0	0	0	30.00	15.84	15.87
3021.37	10919	199.55	1.00	-80.00	2324.9	2401.1	2248.7	1992.8	2169.1	70.40	8.32	385	3055.08	24.30	0.31	3.73	0.990	0.076	0.128	2204.22	2281.88	2126.56	2044.25	682.94	0	0	0	11.98	15.93	15.82
3103.66	5253	199.55	0.92	0.00	2200.1	2278.6	2121.6	2044.1	682.7	60.59	13.16	401	3111.18	0.00	0.30	3.41	0.000	0.158	0.060	2200.53	2280.25	2120.81	2005.94	2170.62	0	0	0	30.00	15.84	15.89
3294.16	10919	231.29	1.05	-80.00	2198.1	2278.6	2117.6	2005.6	2170.4	43.70	8.27	427	3327.85	24.47	0.29	3.73	0.961	0.077	0.127	2075.31	2156.75	1993.88	2056.19	683.25	0	0	0	11.94	15.95	15.83
3356.41	5253	231.29	0.99	0.00	2071.8	2154.1	1989.5	2056.0	683.4	36.65	12.64	439	3363.50	0.00	0.25	3.41	0.000	0.158	0.059	2071.66	2154.38	1988.94	2024.00	2168.56	0	0	0	30.00	15.84	15.89
3547.96	10919	252.94	1.11	-80.00	2069.3	2153.8	1984.9	2023.9	2169.0	18.50	8.72	477	3576.22	17.24	0.27	3.70	0.911	0.079	0.128	1985.44	2072.50	1898.38	2070.19	682.25	0	0	0	11.92	15.95	15.86
3619.70	1028	252.94	1.11	0.00	1982.6	2070.7	1894.4	2070.0	682.2	10.21	12.47	491	3626.65	0.00	0.00	3.41	0.000	0.000	0.058	1982.47	2070.69	1894.25	2070.19	2171.75	0	0	0	30.00	30.00	15.92
3810.26	10919	414.62	1.47	-80.00	1980.9	2070.4	1891.5	2070.3	2171.6	2.16	2.43	529	3847.52	34.10	0.50	0.00	0.939	0.078	0.000	1799.81	1892.31	1707.31	2151.69	2172.00	0	0	0	12.06	15.98	30.00
3848	end climb: SURFACE_DEPTH_REACHED
state	3848	begin surface coast
3946	end surface coast: NO_VERTICAL_VELOCITY
state	3946	begin surface