Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 15 * 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 15 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 3043.624 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 1748.05 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 18.537912 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.88822 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 30.332996 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 19.88822 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.332996 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 18.537912 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 1748.05 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 3043.624 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 15 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 250522,193502,4736.334,-12256.793,14,1.2,19,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,193839,4736.355,-12256.774,3,0.9,5,15.5 MHEAD_RNG_PITCHd_Wd 8.5,1283,-17.1,-9.697,-20.82,2278,0.162

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653510915,26.5,0,stop _10V_AH 14.88,0.000

NET xm1t part outbox0005.n 1007 6 FG_AHR_24Vo 30.499

NET_PING 1653510731,25,1595.011475,13.000000,-2.115407 FG_AHR_10Vo 19.916

MODEM_MSG CACST,8,0,20220525200501.255076,18,32767,45,0147,0000,07,01,01,00,01,1,028,121,0,5,1,0,150,-26.3,5.48,-100,-2.48,-01,-0.12,52,925,0025,0,1,00,00*15 MEM0 60132,1,0,0

FINISH -0.1,1.019284 MEM1 65508,1,0,0

SM_CCo 4225.10,165.41,0.893,0,550.9,615.0,486.9,611.30 MEM2 944532,35,102096,62

SM_GC 1.25,165.41,11.87,3.41,0.893,0.081,0.047,550.9,615.0,486.9,201.0,2176.8,0,0,0,11.87,15.84,15.88 DATA_FILE_SIZE 16146,576

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 385262,0

IRIDIUM_FIX 4738.33,-12256.21,250522,182333 SDSIZE 3887104,3866880

TCM_TEMP 13.31 SDFILEDIR 162,1

SC_FREEKB 3873984 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

MODEM 0,1653508802,47.61230,-122.96660,2.087,3057.4 CURRENT 0.035, 54.7,1

RAFOS_FIX 4733.292969,-12314.393555,250522,202002,2,510,8389.81 MAGCAL 1.000000,0.026522,-0.017090,0.005661,1.080459,-0.051090,0.062376,-0.125206,0.912893,483.6,-1302.3,-114.2,36,0.0531,0

HUMID 48.84 IMPLIED_C_PITCH 1749,18.30,295,1748.3,18.42

TEMP 10.77 IMPLIED_C_VBD 3019,32.815041,295,3031.1

INTERNAL_PRESSURE 8.11823 GPS 250522,205021,4736.792,-12256.480,11,1.1,19,15.5

_24V_AH 14.85,10.394

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 678 1077 10848.61 nil 0 0 0.00

Pitch_motor 27 292 119.77 nil 0 0 0.00

Roll_motor 70 171 179.40 nil 0 0 0.00

Iridium 147 215 471.58 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 2528 5 192.67 SciCon 4030 6 408.97

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1708 0 8.13

Compass 1180 5 87.86

RAFOS 1111 40 661.45

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

6.71 16386 -146.63 -1.10 0.00 549.5 617.6 481.4 198.6 2190.4 0.00 0.00 0 89.93 79.38 0.00 0.00 0.005 0.000 0.000 2405.91 2375.12 2436.69 198.62 2190.38 0 0 0 15.80 30.00 30.00

90.23 18983 -146.63 -1.10 -80.00 2405.1 2374.6 2435.5 198.6 2191.1 3.35 -2.93 16 151.66 35.67 10.61 3.66 0.005 0.292 0.107 3641.66 3633.25 3650.06 1480.94 680.81 0 0 0 15.85 15.68 15.80

378.82 3205 -146.63 -0.95 0.00 3641.8 3637.2 3646.3 1481.7 681.1 35.48 -11.38 72 385.68 0.00 0.26 3.43 0.000 0.186 0.046 3642.59 3638.31 3646.88 1519.31 2177.69 0 0 0 30.00 15.86 15.93

569.18 32 -146.63 -0.95 0.00 3642.5 3638.9 3646.1 1519.3 2177.2 50.11 -7.34 110 569.85 0.00 0.00 0.00 0.000 0.000 0.000 3641.78 3638.69 3644.88 1518.75 2177.19 0 0 0 30.00 30.00 30.00

752.95 292 -146.63 -0.95 80.00 3642.4 3639.4 3645.4 1519.2 2177.6 64.47 -8.20 129 759.41 0.00 0.00 3.48 0.000 0.000 0.105 3642.06 3639.00 3645.12 1519.00 3618.50 0 0 0 30.00 30.00 15.99

810.92 1028 -146.63 -0.95 0.00 3642.2 3639.0 3645.4 1519.1 3618.5 70.11 -9.78 140 817.13 0.00 0.00 3.40 0.000 0.000 0.044 3642.62 3639.50 3645.75 1518.75 2114.75 0 0 0 30.00 30.00 16.01

1001.20 548 -146.63 -0.95 -80.00 3642.5 3639.6 3645.4 1519.1 2114.4 86.73 -8.83 160 1008.30 0.00 0.00 3.45 0.000 0.000 0.109 3643.53 3640.25 3646.81 1519.12 681.06 0 0 0 30.00 30.00 16.02

1041.20 1188 -146.63 -0.92 0.00 3642.4 3640.0 3644.9 1518.9 681.1 90.64 -9.59 168 1048.68 0.00 0.00 3.40 0.000 0.000 0.045 3642.94 3639.94 3645.94 1519.19 2178.69 0 0 0 30.00 30.00 16.06

1231.34 292 -146.63 -0.92 80.00 3643.0 3640.4 3645.7 1518.7 2177.8 106.90 -8.57 187 1237.49 0.00 0.00 3.46 0.000 0.000 0.103 3641.62 3638.94 3644.31 1519.38 3618.56 0 0 0 30.00 30.00 16.04

1291.41 1156 -146.63 -0.87 0.00 3642.9 3640.2 3645.7 1519.2 3617.3 113.08 -10.61 199 1297.48 0.00 0.00 3.38 0.000 0.000 0.042 3642.00 3638.81 3645.19 1518.94 2116.06 0 0 0 30.00 30.00 16.06

1481.38 32 -146.63 -0.87 0.00 3642.9 3640.4 3645.4 1518.7 2115.0 130.34 -9.13 219 1482.99 0.00 0.00 0.00 0.000 0.000 0.000 3641.56 3639.56 3643.56 1519.62 2114.94 0 0 0 30.00 30.00 30.00

1671.41 292 -146.63 -0.87 80.00 3642.8 3640.4 3645.2 1519.1 2114.9 146.69 -8.56 238 1678.71 0.00 0.00 3.63 0.000 0.000 0.104 3644.09 3641.06 3647.12 1518.88 3617.56 0 0 0 30.00 30.00 16.04

1727.28 3205 -146.63 -0.83 0.00 3642.6 3639.8 3645.4 1518.7 3618.1 152.16 -10.01 249 1734.59 0.00 0.18 3.39 0.000 0.185 0.046 3643.94 3640.81 3647.06 1546.81 2114.75 0 0 0 30.00 16.02 16.08

1822 end dive: TARGET_DEPTH_EXCEEDED

state 1822 begin apogee

1823.70 10243 0.00 -0.27 0.00 3642.3 3640.0 3644.6 1546.1 2185.1 160.09 -8.18 259 1943.34 111.21 0.94 0.11 1.077 0.148 0.172 3040.94 3094.38 2987.50 1684.00 2108.06 0 0 0 11.98 16.04 15.71

1944 end apogee: CONTROL_FINISHED_OK

state 1944 begin climb

1944.52 10243 146.63 1.10 0.00 3041.5 3094.6 2988.5 1684.1 2108.2 163.84 0.00 270 2070.23 115.79 2.29 0.00 1.037 0.118 0.000 2444.28 2510.44 2378.12 2017.38 2107.75 0 0 0 11.83 15.70 30.00

2253.78 4485 146.63 0.99 80.00 2438.8 2501.6 2375.9 2017.6 2107.9 134.47 12.02 301 2261.41 0.00 0.31 3.72 0.000 0.167 0.106 2437.41 2500.12 2374.69 1980.69 3616.75 0 0 0 30.00 15.71 15.74

2304.23 17542 146.63 0.87 0.00 2436.3 2497.1 2375.6 1980.9 3616.5 128.26 12.17 311 2311.82 0.00 0.00 3.45 0.000 0.000 0.046 2437.56 2498.12 2377.00 1981.38 2117.62 0 0 0 30.00 30.00 15.80

2492.97 32 148.66 0.87 0.00 2436.4 2497.1 2375.7 1980.9 2117.3 109.75 9.61 331 2494.58 0.00 0.00 0.00 0.000 0.000 0.000 2435.00 2495.44 2374.56 1981.12 2117.38 0 0 0 30.00 30.00 30.00

2682.99 8486 158.70 0.88 80.00 2436.2 2496.4 2376.0 1980.8 2117.1 91.91 9.25 350 2701.01 10.71 0.00 3.66 0.869 0.000 0.109 2393.78 2457.50 2330.06 1980.69 3619.12 0 0 0 11.84 30.00 15.89

2763.85 5253 158.70 0.80 0.00 2393.4 2455.9 2330.9 1980.5 3619.2 83.22 11.35 366 2771.67 0.00 0.30 3.42 0.000 0.174 0.047 2393.75 2455.88 2331.62 1936.06 2116.06 0 0 0 30.00 15.87 15.95

2959.65 10403 214.79 0.97 0.00 2393.1 2455.5 2330.8 1935.9 2116.1 68.44 7.18 386 3014.06 45.02 0.35 0.00 0.976 0.077 0.000 2167.75 2245.69 2089.81 1990.00 2113.31 0 0 0 11.86 15.99 30.00

3195.75 260 214.79 0.97 80.00 2161.9 2236.9 2086.9 1990.8 2114.8 44.58 10.67 413 3202.82 0.00 0.00 3.69 0.000 0.000 0.108 2162.81 2237.31 2088.31 1990.88 3615.75 0 0 0 30.00 30.00 15.87

3251.28 1028 214.79 0.97 0.00 2160.2 2233.1 2087.2 1990.8 3616.5 38.11 11.92 424 3258.24 0.00 0.00 3.43 0.000 0.000 0.046 2162.25 2235.06 2089.44 1990.94 2118.50 0 0 0 30.00 30.00 15.91

3441.86 420 217.83 1.01 80.00 2160.3 2233.6 2087.0 1990.8 2118.2 19.29 9.56 462 3448.78 0.00 0.00 3.65 0.000 0.000 0.106 2162.44 2235.50 2089.38 1990.38 3617.81 0 0 0 30.00 30.00 15.95

3512.24 1028 217.83 1.01 0.00 2159.1 2231.1 2087.2 1990.4 3618.4 12.03 10.26 476 3519.18 0.00 0.00 3.41 0.000 0.000 0.046 2159.81 2231.75 2087.88 1990.81 2117.31 0 0 0 30.00 30.00 15.99

3701.79 10919 372.86 1.34 -80.00 2159.2 2231.2 2087.3 1990.8 2117.2 4.36 2.73 514 3832.89 114.97 0.51 3.54 0.917 0.074 0.112 1522.06 1632.44 1411.69 2080.94 679.94 0 0 0 11.84 16.02 15.70

3881 end climb: SURFACE_DEPTH_REACHED

state 3881 begin surface coast

4021 end surface coast: CONTROL_FINISHED_OK

state 4022 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	15	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	3043.624	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	1748.05	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	18.537912	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.88822	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	30.332996	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	250522,193502,4736.334,-12256.793,14,1.2,19,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,193839,4736.355,-12256.774,3,0.9,5,15.5	MHEAD_RNG_PITCHd_Wd	8.5,1283,-17.1,-9.697,-20.82,2278,0.162
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	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	4737.000,-12256.400

NAV	1653510915,26.5,0,stop	_10V_AH	14.88,0.000
NET	xm1t part outbox0005.n 1007 6	FG_AHR_24Vo	30.499
NET_PING	1653510731,25,1595.011475,13.000000,-2.115407	FG_AHR_10Vo	19.916
MODEM_MSG	CACST,8,0,20220525200501.255076,18,32767,45,0147,0000,07,01,01,00,01,1,028,121,0,5,1,0,150,-26.3,5.48,-100,-2.48,-01,-0.12,52,925,0025,0,1,00,00*15	MEM0	60132,1,0,0
FINISH	-0.1,1.019284	MEM1	65508,1,0,0
SM_CCo	4225.10,165.41,0.893,0,550.9,615.0,486.9,611.30	MEM2	944532,35,102096,62
SM_GC	1.25,165.41,11.87,3.41,0.893,0.081,0.047,550.9,615.0,486.9,201.0,2176.8,0,0,0,11.87,15.84,15.88	DATA_FILE_SIZE	16146,576
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	385262,0
IRIDIUM_FIX	4738.33,-12256.21,250522,182333	SDSIZE	3887104,3866880
TCM_TEMP	13.31	SDFILEDIR	162,1
SC_FREEKB	3873984	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
MODEM	0,1653508802,47.61230,-122.96660,2.087,3057.4	CURRENT	0.035, 54.7,1
RAFOS_FIX	4733.292969,-12314.393555,250522,202002,2,510,8389.81	MAGCAL	1.000000,0.026522,-0.017090,0.005661,1.080459,-0.051090,0.062376,-0.125206,0.912893,483.6,-1302.3,-114.2,36,0.0531,0
HUMID	48.84	IMPLIED_C_PITCH	1749,18.30,295,1748.3,18.42
TEMP	10.77	IMPLIED_C_VBD	3019,32.815041,295,3031.1
INTERNAL_PRESSURE	8.11823	GPS	250522,205021,4736.792,-12256.480,11,1.1,19,15.5
_24V_AH	14.85,10.394

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	678	1077	10848.61	nil	0	0	0.00
Pitch_motor	27	292	119.77	nil	0	0	0.00
Roll_motor	70	171	179.40	nil	0	0	0.00
Iridium	147	215	471.58	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	2528	5	192.67	SciCon	4030	6	408.97
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1708	0	8.13
Compass	1180	5	87.86
RAFOS	1111	40	661.45
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
6.71	16386	-146.63	-1.10	0.00	549.5	617.6	481.4	198.6	2190.4	0.00	0.00	0	89.93	79.38	0.00	0.00	0.005	0.000	0.000	2405.91	2375.12	2436.69	198.62	2190.38	0	0	0	15.80	30.00	30.00
90.23	18983	-146.63	-1.10	-80.00	2405.1	2374.6	2435.5	198.6	2191.1	3.35	-2.93	16	151.66	35.67	10.61	3.66	0.005	0.292	0.107	3641.66	3633.25	3650.06	1480.94	680.81	0	0	0	15.85	15.68	15.80
378.82	3205	-146.63	-0.95	0.00	3641.8	3637.2	3646.3	1481.7	681.1	35.48	-11.38	72	385.68	0.00	0.26	3.43	0.000	0.186	0.046	3642.59	3638.31	3646.88	1519.31	2177.69	0	0	0	30.00	15.86	15.93
569.18	32	-146.63	-0.95	0.00	3642.5	3638.9	3646.1	1519.3	2177.2	50.11	-7.34	110	569.85	0.00	0.00	0.00	0.000	0.000	0.000	3641.78	3638.69	3644.88	1518.75	2177.19	0	0	0	30.00	30.00	30.00
752.95	292	-146.63	-0.95	80.00	3642.4	3639.4	3645.4	1519.2	2177.6	64.47	-8.20	129	759.41	0.00	0.00	3.48	0.000	0.000	0.105	3642.06	3639.00	3645.12	1519.00	3618.50	0	0	0	30.00	30.00	15.99
810.92	1028	-146.63	-0.95	0.00	3642.2	3639.0	3645.4	1519.1	3618.5	70.11	-9.78	140	817.13	0.00	0.00	3.40	0.000	0.000	0.044	3642.62	3639.50	3645.75	1518.75	2114.75	0	0	0	30.00	30.00	16.01
1001.20	548	-146.63	-0.95	-80.00	3642.5	3639.6	3645.4	1519.1	2114.4	86.73	-8.83	160	1008.30	0.00	0.00	3.45	0.000	0.000	0.109	3643.53	3640.25	3646.81	1519.12	681.06	0	0	0	30.00	30.00	16.02
1041.20	1188	-146.63	-0.92	0.00	3642.4	3640.0	3644.9	1518.9	681.1	90.64	-9.59	168	1048.68	0.00	0.00	3.40	0.000	0.000	0.045	3642.94	3639.94	3645.94	1519.19	2178.69	0	0	0	30.00	30.00	16.06
1231.34	292	-146.63	-0.92	80.00	3643.0	3640.4	3645.7	1518.7	2177.8	106.90	-8.57	187	1237.49	0.00	0.00	3.46	0.000	0.000	0.103	3641.62	3638.94	3644.31	1519.38	3618.56	0	0	0	30.00	30.00	16.04
1291.41	1156	-146.63	-0.87	0.00	3642.9	3640.2	3645.7	1519.2	3617.3	113.08	-10.61	199	1297.48	0.00	0.00	3.38	0.000	0.000	0.042	3642.00	3638.81	3645.19	1518.94	2116.06	0	0	0	30.00	30.00	16.06
1481.38	32	-146.63	-0.87	0.00	3642.9	3640.4	3645.4	1518.7	2115.0	130.34	-9.13	219	1482.99	0.00	0.00	0.00	0.000	0.000	0.000	3641.56	3639.56	3643.56	1519.62	2114.94	0	0	0	30.00	30.00	30.00
1671.41	292	-146.63	-0.87	80.00	3642.8	3640.4	3645.2	1519.1	2114.9	146.69	-8.56	238	1678.71	0.00	0.00	3.63	0.000	0.000	0.104	3644.09	3641.06	3647.12	1518.88	3617.56	0	0	0	30.00	30.00	16.04
1727.28	3205	-146.63	-0.83	0.00	3642.6	3639.8	3645.4	1518.7	3618.1	152.16	-10.01	249	1734.59	0.00	0.18	3.39	0.000	0.185	0.046	3643.94	3640.81	3647.06	1546.81	2114.75	0	0	0	30.00	16.02	16.08
1822	end dive: TARGET_DEPTH_EXCEEDED
state	1822	begin apogee
1823.70	10243	0.00	-0.27	0.00	3642.3	3640.0	3644.6	1546.1	2185.1	160.09	-8.18	259	1943.34	111.21	0.94	0.11	1.077	0.148	0.172	3040.94	3094.38	2987.50	1684.00	2108.06	0	0	0	11.98	16.04	15.71
1944	end apogee: CONTROL_FINISHED_OK
state	1944	begin climb
1944.52	10243	146.63	1.10	0.00	3041.5	3094.6	2988.5	1684.1	2108.2	163.84	0.00	270	2070.23	115.79	2.29	0.00	1.037	0.118	0.000	2444.28	2510.44	2378.12	2017.38	2107.75	0	0	0	11.83	15.70	30.00
2253.78	4485	146.63	0.99	80.00	2438.8	2501.6	2375.9	2017.6	2107.9	134.47	12.02	301	2261.41	0.00	0.31	3.72	0.000	0.167	0.106	2437.41	2500.12	2374.69	1980.69	3616.75	0	0	0	30.00	15.71	15.74
2304.23	17542	146.63	0.87	0.00	2436.3	2497.1	2375.6	1980.9	3616.5	128.26	12.17	311	2311.82	0.00	0.00	3.45	0.000	0.000	0.046	2437.56	2498.12	2377.00	1981.38	2117.62	0	0	0	30.00	30.00	15.80
2492.97	32	148.66	0.87	0.00	2436.4	2497.1	2375.7	1980.9	2117.3	109.75	9.61	331	2494.58	0.00	0.00	0.00	0.000	0.000	0.000	2435.00	2495.44	2374.56	1981.12	2117.38	0	0	0	30.00	30.00	30.00
2682.99	8486	158.70	0.88	80.00	2436.2	2496.4	2376.0	1980.8	2117.1	91.91	9.25	350	2701.01	10.71	0.00	3.66	0.869	0.000	0.109	2393.78	2457.50	2330.06	1980.69	3619.12	0	0	0	11.84	30.00	15.89
2763.85	5253	158.70	0.80	0.00	2393.4	2455.9	2330.9	1980.5	3619.2	83.22	11.35	366	2771.67	0.00	0.30	3.42	0.000	0.174	0.047	2393.75	2455.88	2331.62	1936.06	2116.06	0	0	0	30.00	15.87	15.95
2959.65	10403	214.79	0.97	0.00	2393.1	2455.5	2330.8	1935.9	2116.1	68.44	7.18	386	3014.06	45.02	0.35	0.00	0.976	0.077	0.000	2167.75	2245.69	2089.81	1990.00	2113.31	0	0	0	11.86	15.99	30.00
3195.75	260	214.79	0.97	80.00	2161.9	2236.9	2086.9	1990.8	2114.8	44.58	10.67	413	3202.82	0.00	0.00	3.69	0.000	0.000	0.108	2162.81	2237.31	2088.31	1990.88	3615.75	0	0	0	30.00	30.00	15.87
3251.28	1028	214.79	0.97	0.00	2160.2	2233.1	2087.2	1990.8	3616.5	38.11	11.92	424	3258.24	0.00	0.00	3.43	0.000	0.000	0.046	2162.25	2235.06	2089.44	1990.94	2118.50	0	0	0	30.00	30.00	15.91
3441.86	420	217.83	1.01	80.00	2160.3	2233.6	2087.0	1990.8	2118.2	19.29	9.56	462	3448.78	0.00	0.00	3.65	0.000	0.000	0.106	2162.44	2235.50	2089.38	1990.38	3617.81	0	0	0	30.00	30.00	15.95
3512.24	1028	217.83	1.01	0.00	2159.1	2231.1	2087.2	1990.4	3618.4	12.03	10.26	476	3519.18	0.00	0.00	3.41	0.000	0.000	0.046	2159.81	2231.75	2087.88	1990.81	2117.31	0	0	0	30.00	30.00	15.99
3701.79	10919	372.86	1.34	-80.00	2159.2	2231.2	2087.3	1990.8	2117.2	4.36	2.73	514	3832.89	114.97	0.51	3.54	0.917	0.074	0.112	1522.06	1632.44	1411.69	2080.94	679.94	0	0	0	11.84	16.02	15.70
3881	end climb: SURFACE_DEPTH_REACHED
state	3881	begin surface coast
4021	end surface coast: CONTROL_FINISHED_OK
state	4022	begin surface