Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 16 * 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 16 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 3031.1179 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 1748.2874 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 18.417582 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.917624 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 30.509111 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 19.917624 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.509111 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 18.417582 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 1748.2874 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 3031.1179 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 16 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 250522,205021,4736.792,-12256.480,11,1.1,19,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -57.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,205552,4736.840,-12256.434,2,0.7,3,15.5 MHEAD_RNG_PITCHd_Wd 192.8,1709,-17.1,-9.697,-20.82,2278,0.146

SPEED_LIMITS 0.168,0.255 D_GRID 168

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 1653516704,-0.0,1,stop _10V_AH 14.96,0.000

MODEM_MSG CACST,8,1,20220525215910.342890,18,1593,26,0116,0000,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,7.9,0.30,-100,2.70,-01,0.02,53,925,0025,0,-1,00,00*3F FG_AHR_24Vo 30.674

NET CACST,8,1,20220525220221.176685,06,32767,45,0102,0150,07,00,00,00,00,-1,-01,-01,1,3,2196,0,150,12.1,0.81,-100,2.19,-01,2.76,74,10000,5000,0,-1,00,00*64 FG_AHR_10Vo 19.959

NET_PING 1653515532,25,1565.068481,10.800000,-2.075657 MEM0 60132,1,0,0

FREEZE 4.24,12.881,-1.483,0,1,0 MEM1 65508,1,0,0

SM_CCo 4404.13,194.56,0.873,0,500.2,567.3,433.1,620.80 MEM2 944580,35,102048,62

SM_GC 1.12,0.00,12.24,0.10,0.000,0.079,0.141,496.1,567.2,424.9,202.3,2185.8,0,0,0,30.00,15.54,15.54 DATA_FILE_SIZE 16129,600

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 1728141,0

IRIDIUM_FIX 4735.53,-12254.47,250522,205136 SDSIZE 3887104,3865248

TCM_TEMP 13.30 SDFILEDIR 170,1

SC_FREEKB 3873664 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 1,1653515950,47.50000,-123.50000,3250.343,4761752.0 CURRENT 0.026, 51.0,1

RAFOS_FIX 4733.292969,-12314.393555,250522,202002,2,510,8389.81 MAGCAL 1.000000,-0.000786,0.074765,-0.003653,1.144110,-0.055787,-0.019559,-0.252227,1.117649,412.8,-1299.6,-290.1,36,0.0610,0

HUMID 48.77 IMPLIED_C_PITCH 1751,18.59,315,1749.7,18.50

TEMP 10.83 IMPLIED_C_VBD 3046,32.881538,315,3038.4

INTERNAL_PRESSURE 8.11051 GPS 250522,221224,4736.490,-12256.658,11,1.4,15,15.5

_24V_AH 14.93,10.594

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 697 1081 11252.15 nil 0 0 0.00

Pitch_motor 30 280 126.15 nil 0 0 0.00

Roll_motor 77 171 197.74 nil 0 0 0.00

Iridium 203 213 650.39 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.82 nil 0 0 0.00

Core 2777 5 212.78 SciCon 4203 6 434.23

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1836 0 8.79

Compass 1313 5 98.23

RAFOS 1626 40 973.58

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

6.58 16386 -146.63 -1.11 0.00 544.1 614.1 474.1 200.0 2103.9 0.00 0.00 0 91.84 81.32 0.00 0.00 0.005 0.000 0.000 2430.00 2398.75 2461.25 199.88 2104.94 0 0 0 15.87 30.00 30.00

92.14 18983 -146.63 -1.11 -80.00 2429.2 2397.8 2460.6 200.1 2103.9 3.09 -2.43 16 153.50 37.35 10.40 3.45 0.005 0.280 0.106 3629.06 3620.81 3637.31 1479.69 680.94 0 0 0 15.92 15.73 15.85

157.01 3237 -146.63 -0.75 0.00 3628.2 3621.4 3635.0 1479.2 680.7 7.99 -7.30 28 174.13 0.00 0.62 3.39 0.000 0.192 0.043 3629.44 3623.44 3635.44 1566.50 2182.06 0 0 0 30.00 15.79 15.88

356.54 420 -146.63 -0.84 80.00 3630.2 3626.6 3633.9 1566.4 2181.0 20.57 -5.94 65 363.17 0.00 0.00 3.49 0.000 0.000 0.104 3630.66 3627.06 3634.25 1567.50 3617.44 0 0 0 30.00 30.00 15.88

431.76 5285 -146.63 -0.90 0.00 3630.0 3626.0 3634.0 1566.9 3617.7 25.91 -7.20 80 438.79 0.00 0.33 3.39 0.000 0.077 0.043 3629.69 3625.81 3633.56 1513.94 2112.25 0 0 0 30.00 15.92 15.93

622.32 32 -146.63 -0.90 0.00 3630.1 3626.6 3633.6 1514.1 2112.6 40.22 -7.60 118 626.92 0.00 0.00 0.00 0.000 0.000 0.000 3630.50 3627.56 3633.44 1514.44 2112.38 0 0 0 30.00 30.00 30.00

817.37 292 -146.63 -0.90 80.00 3630.2 3626.8 3633.5 1514.4 2112.2 56.03 -8.46 150 824.69 0.00 0.00 3.63 0.000 0.000 0.100 3629.91 3626.81 3633.00 1514.69 3618.44 0 0 0 30.00 30.00 15.99

883.26 3205 -146.63 -0.80 0.00 3630.1 3627.2 3632.9 1514.2 3617.8 62.47 -10.05 163 890.66 0.00 0.34 3.37 0.000 0.174 0.045 3630.62 3627.69 3633.56 1555.38 2115.06 0 0 0 30.00 15.98 16.03

1078.34 420 -146.63 -0.87 80.00 3630.4 3627.9 3633.0 1555.2 2113.1 76.32 -6.93 183 1085.56 0.00 0.00 3.61 0.000 0.000 0.102 3631.78 3628.50 3635.06 1555.62 3617.62 0 0 0 30.00 30.00 16.03

1128.36 1060 -146.63 -0.87 0.00 3630.7 3628.2 3633.2 1554.7 3617.5 80.30 -7.97 193 1135.95 0.00 0.00 3.37 0.000 0.000 0.044 3630.78 3628.19 3633.38 1555.19 2114.69 0 0 0 30.00 30.00 16.06

1324.21 4257 -146.63 -0.94 0.00 3631.0 3628.4 3633.7 1554.9 2114.7 93.87 -6.98 213 1326.08 0.00 0.28 0.00 0.000 0.084 0.000 3630.25 3627.56 3632.94 1506.62 2114.50 0 0 0 30.00 16.07 30.00

1509.23 420 -146.63 -0.90 80.00 3631.0 3628.5 3633.4 1506.9 2114.6 110.72 -9.38 232 1516.45 0.00 0.00 3.62 0.000 0.000 0.103 3632.34 3629.50 3635.19 1506.44 3617.38 0 0 0 30.00 30.00 16.08

1552.18 3205 -146.63 -0.63 0.00 3631.0 3628.7 3633.3 1506.4 3618.4 115.46 -11.14 240 1560.15 0.00 0.67 3.36 0.000 0.169 0.045 3630.78 3628.38 3633.19 1595.56 2116.31 0 0 0 30.00 16.03 15.90

1748.16 4257 -146.63 -0.79 0.00 3631.4 3629.3 3633.4 1594.6 2115.1 127.78 -6.04 260 1750.08 0.00 0.31 0.00 0.000 0.088 0.000 3631.50 3629.25 3633.75 1544.25 2114.94 0 0 0 30.00 16.07 30.00

1938.18 420 -146.63 -0.84 80.00 3631.0 3628.9 3633.1 1544.1 2114.9 143.00 -8.17 279 1945.41 0.00 0.00 3.62 0.000 0.000 0.105 3631.03 3629.38 3632.69 1543.44 3619.25 0 0 0 30.00 30.00 16.09

1994.18 1060 -146.63 -0.84 0.00 3631.2 3629.4 3633.1 1543.6 3619.0 148.22 -9.54 288 2000.33 0.00 0.00 3.37 0.000 0.000 0.046 3630.94 3629.44 3632.44 1544.06 2116.69 0 0 0 30.00 30.00 16.10

2150 end dive: TARGET_DEPTH_EXCEEDED

state 2150 begin apogee

2151.02 10243 0.00 -0.27 0.00 3631.6 3630.1 3633.1 1543.8 2185.6 160.78 -8.27 304 2271.93 111.49 1.02 0.11 1.081 0.151 0.171 3032.97 3086.31 2979.62 1682.88 2104.88 0 0 0 11.87 16.03 15.70

2273 end apogee: CONTROL_FINISHED_OK

state 2273 begin climb

2273.14 10759 146.63 1.11 -80.00 3029.3 3082.4 2976.2 1682.8 2105.4 165.39 0.00 316 2408.81 116.06 2.32 3.57 1.033 0.116 0.114 2431.38 2499.06 2363.69 2019.38 682.50 0 0 0 11.82 15.69 15.49

2411.83 5253 146.63 0.95 0.00 2429.6 2495.8 2363.4 2019.5 681.8 155.56 10.79 338 2419.82 0.00 0.40 3.48 0.000 0.188 0.046 2430.06 2496.44 2363.69 1972.56 2172.44 0 0 0 30.00 15.50 15.57

2607.45 292 147.16 0.95 80.00 2425.8 2489.1 2362.6 1972.6 2172.4 135.84 9.67 358 2614.89 0.00 0.00 3.57 0.000 0.000 0.109 2425.41 2489.00 2361.81 1971.94 3617.50 0 0 0 30.00 30.00 15.76

2683.54 1156 147.16 0.86 0.00 2423.5 2484.5 2362.4 1971.7 3617.8 126.92 12.11 373 2689.84 0.00 0.00 3.42 0.000 0.000 0.045 2421.12 2482.25 2360.00 1972.50 2124.50 0 0 0 30.00 30.00 15.83

2873.51 292 149.38 0.86 80.00 2423.6 2484.8 2362.4 1972.5 2118.4 108.22 9.60 393 2881.01 0.00 0.00 3.67 0.000 0.000 0.107 2423.97 2485.12 2362.81 1971.81 3616.81 0 0 0 30.00 30.00 15.88

2899.64 5253 149.38 0.82 0.00 2422.5 2482.7 2362.4 1972.2 3616.5 105.49 9.77 398 2907.18 0.00 0.22 3.38 0.000 0.191 0.045 2423.16 2483.25 2363.06 1939.50 2115.88 0 0 0 30.00 15.84 15.91

3094.70 10403 180.28 0.93 0.00 2422.6 2483.0 2362.2 1939.1 2115.9 89.29 8.31 418 3126.50 27.07 0.26 0.00 0.976 0.084 0.000 2294.75 2364.88 2224.62 1982.50 2114.88 0 0 0 11.84 15.96 30.00

3309.56 260 180.28 0.93 80.00 2292.3 2359.5 2225.1 1981.1 2115.1 67.27 10.14 440 3317.12 0.00 0.00 3.68 0.000 0.000 0.108 2290.59 2357.69 2223.50 1982.94 3619.00 0 0 0 30.00 30.00 15.93

3378.83 1028 180.28 0.93 0.00 2291.1 2357.5 2224.6 1982.8 3619.4 59.54 11.43 453 3385.16 0.00 0.00 3.39 0.000 0.000 0.047 2291.31 2358.38 2224.25 1982.88 2119.06 0 0 0 30.00 30.00 15.95

3569.81 8226 189.87 0.94 0.00 2291.1 2357.5 2224.6 1982.8 2118.6 41.35 9.27 482 3586.34 9.41 0.00 0.00 0.817 0.000 0.000 2255.12 2323.38 2186.88 1983.00 2118.50 0 0 0 11.80 30.00 30.00

3773.50 8486 199.87 0.95 80.00 2253.9 2321.4 2186.4 1982.9 2118.3 23.24 9.25 520 3792.39 9.86 0.00 3.68 0.818 0.000 0.109 2215.44 2285.56 2145.31 1983.38 3616.31 0 0 0 11.92 30.00 15.95

3881.92 9382 210.41 1.01 0.00 2212.9 2281.5 2144.2 1982.9 3616.0 11.55 9.22 541 3900.74 10.48 0.00 3.39 0.815 0.000 0.046 2170.91 2243.88 2097.94 1983.31 2117.75 0 0 0 11.88 30.00 15.99

4084.78 10663 381.71 1.45 80.00 2170.9 2242.8 2099.0 1983.4 2117.1 5.26 2.00 580 4192.63 99.49 0.74 0.00 0.919 0.079 0.000 1625.53 1732.69 1518.38 2102.50 2117.56 0 0 0 11.92 15.98 30.00

4193 end climb: NO_VERTICAL_VELOCITY

state 4193 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	16	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	3031.1179	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	1748.2874	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	18.417582	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.917624	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	30.509111	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	250522,205021,4736.792,-12256.480,11,1.1,19,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,205552,4736.840,-12256.434,2,0.7,3,15.5	MHEAD_RNG_PITCHd_Wd	192.8,1709,-17.1,-9.697,-20.82,2278,0.146
SPEED_LIMITS	0.168,0.255	D_GRID	168
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	1653516704,-0.0,1,stop	_10V_AH	14.96,0.000
MODEM_MSG	CACST,8,1,20220525215910.342890,18,1593,26,0116,0000,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,7.9,0.30,-100,2.70,-01,0.02,53,925,0025,0,-1,00,00*3F	FG_AHR_24Vo	30.674
NET	CACST,8,1,20220525220221.176685,06,32767,45,0102,0150,07,00,00,00,00,-1,-01,-01,1,3,2196,0,150,12.1,0.81,-100,2.19,-01,2.76,74,10000,5000,0,-1,00,00*64	FG_AHR_10Vo	19.959
NET_PING	1653515532,25,1565.068481,10.800000,-2.075657	MEM0	60132,1,0,0
FREEZE	4.24,12.881,-1.483,0,1,0	MEM1	65508,1,0,0
SM_CCo	4404.13,194.56,0.873,0,500.2,567.3,433.1,620.80	MEM2	944580,35,102048,62
SM_GC	1.12,0.00,12.24,0.10,0.000,0.079,0.141,496.1,567.2,424.9,202.3,2185.8,0,0,0,30.00,15.54,15.54	DATA_FILE_SIZE	16129,600
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	1728141,0
IRIDIUM_FIX	4735.53,-12254.47,250522,205136	SDSIZE	3887104,3865248
TCM_TEMP	13.30	SDFILEDIR	170,1
SC_FREEKB	3873664	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	1,1653515950,47.50000,-123.50000,3250.343,4761752.0	CURRENT	0.026, 51.0,1
RAFOS_FIX	4733.292969,-12314.393555,250522,202002,2,510,8389.81	MAGCAL	1.000000,-0.000786,0.074765,-0.003653,1.144110,-0.055787,-0.019559,-0.252227,1.117649,412.8,-1299.6,-290.1,36,0.0610,0
HUMID	48.77	IMPLIED_C_PITCH	1751,18.59,315,1749.7,18.50
TEMP	10.83	IMPLIED_C_VBD	3046,32.881538,315,3038.4
INTERNAL_PRESSURE	8.11051	GPS	250522,221224,4736.490,-12256.658,11,1.4,15,15.5
_24V_AH	14.93,10.594

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	697	1081	11252.15	nil	0	0	0.00
Pitch_motor	30	280	126.15	nil	0	0	0.00
Roll_motor	77	171	197.74	nil	0	0	0.00
Iridium	203	213	650.39	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.82	nil	0	0	0.00
Core	2777	5	212.78	SciCon	4203	6	434.23
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1836	0	8.79
Compass	1313	5	98.23
RAFOS	1626	40	973.58
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
6.58	16386	-146.63	-1.11	0.00	544.1	614.1	474.1	200.0	2103.9	0.00	0.00	0	91.84	81.32	0.00	0.00	0.005	0.000	0.000	2430.00	2398.75	2461.25	199.88	2104.94	0	0	0	15.87	30.00	30.00
92.14	18983	-146.63	-1.11	-80.00	2429.2	2397.8	2460.6	200.1	2103.9	3.09	-2.43	16	153.50	37.35	10.40	3.45	0.005	0.280	0.106	3629.06	3620.81	3637.31	1479.69	680.94	0	0	0	15.92	15.73	15.85
157.01	3237	-146.63	-0.75	0.00	3628.2	3621.4	3635.0	1479.2	680.7	7.99	-7.30	28	174.13	0.00	0.62	3.39	0.000	0.192	0.043	3629.44	3623.44	3635.44	1566.50	2182.06	0	0	0	30.00	15.79	15.88
356.54	420	-146.63	-0.84	80.00	3630.2	3626.6	3633.9	1566.4	2181.0	20.57	-5.94	65	363.17	0.00	0.00	3.49	0.000	0.000	0.104	3630.66	3627.06	3634.25	1567.50	3617.44	0	0	0	30.00	30.00	15.88
431.76	5285	-146.63	-0.90	0.00	3630.0	3626.0	3634.0	1566.9	3617.7	25.91	-7.20	80	438.79	0.00	0.33	3.39	0.000	0.077	0.043	3629.69	3625.81	3633.56	1513.94	2112.25	0	0	0	30.00	15.92	15.93
622.32	32	-146.63	-0.90	0.00	3630.1	3626.6	3633.6	1514.1	2112.6	40.22	-7.60	118	626.92	0.00	0.00	0.00	0.000	0.000	0.000	3630.50	3627.56	3633.44	1514.44	2112.38	0	0	0	30.00	30.00	30.00
817.37	292	-146.63	-0.90	80.00	3630.2	3626.8	3633.5	1514.4	2112.2	56.03	-8.46	150	824.69	0.00	0.00	3.63	0.000	0.000	0.100	3629.91	3626.81	3633.00	1514.69	3618.44	0	0	0	30.00	30.00	15.99
883.26	3205	-146.63	-0.80	0.00	3630.1	3627.2	3632.9	1514.2	3617.8	62.47	-10.05	163	890.66	0.00	0.34	3.37	0.000	0.174	0.045	3630.62	3627.69	3633.56	1555.38	2115.06	0	0	0	30.00	15.98	16.03
1078.34	420	-146.63	-0.87	80.00	3630.4	3627.9	3633.0	1555.2	2113.1	76.32	-6.93	183	1085.56	0.00	0.00	3.61	0.000	0.000	0.102	3631.78	3628.50	3635.06	1555.62	3617.62	0	0	0	30.00	30.00	16.03
1128.36	1060	-146.63	-0.87	0.00	3630.7	3628.2	3633.2	1554.7	3617.5	80.30	-7.97	193	1135.95	0.00	0.00	3.37	0.000	0.000	0.044	3630.78	3628.19	3633.38	1555.19	2114.69	0	0	0	30.00	30.00	16.06
1324.21	4257	-146.63	-0.94	0.00	3631.0	3628.4	3633.7	1554.9	2114.7	93.87	-6.98	213	1326.08	0.00	0.28	0.00	0.000	0.084	0.000	3630.25	3627.56	3632.94	1506.62	2114.50	0	0	0	30.00	16.07	30.00
1509.23	420	-146.63	-0.90	80.00	3631.0	3628.5	3633.4	1506.9	2114.6	110.72	-9.38	232	1516.45	0.00	0.00	3.62	0.000	0.000	0.103	3632.34	3629.50	3635.19	1506.44	3617.38	0	0	0	30.00	30.00	16.08
1552.18	3205	-146.63	-0.63	0.00	3631.0	3628.7	3633.3	1506.4	3618.4	115.46	-11.14	240	1560.15	0.00	0.67	3.36	0.000	0.169	0.045	3630.78	3628.38	3633.19	1595.56	2116.31	0	0	0	30.00	16.03	15.90
1748.16	4257	-146.63	-0.79	0.00	3631.4	3629.3	3633.4	1594.6	2115.1	127.78	-6.04	260	1750.08	0.00	0.31	0.00	0.000	0.088	0.000	3631.50	3629.25	3633.75	1544.25	2114.94	0	0	0	30.00	16.07	30.00
1938.18	420	-146.63	-0.84	80.00	3631.0	3628.9	3633.1	1544.1	2114.9	143.00	-8.17	279	1945.41	0.00	0.00	3.62	0.000	0.000	0.105	3631.03	3629.38	3632.69	1543.44	3619.25	0	0	0	30.00	30.00	16.09
1994.18	1060	-146.63	-0.84	0.00	3631.2	3629.4	3633.1	1543.6	3619.0	148.22	-9.54	288	2000.33	0.00	0.00	3.37	0.000	0.000	0.046	3630.94	3629.44	3632.44	1544.06	2116.69	0	0	0	30.00	30.00	16.10
2150	end dive: TARGET_DEPTH_EXCEEDED
state	2150	begin apogee
2151.02	10243	0.00	-0.27	0.00	3631.6	3630.1	3633.1	1543.8	2185.6	160.78	-8.27	304	2271.93	111.49	1.02	0.11	1.081	0.151	0.171	3032.97	3086.31	2979.62	1682.88	2104.88	0	0	0	11.87	16.03	15.70
2273	end apogee: CONTROL_FINISHED_OK
state	2273	begin climb
2273.14	10759	146.63	1.11	-80.00	3029.3	3082.4	2976.2	1682.8	2105.4	165.39	0.00	316	2408.81	116.06	2.32	3.57	1.033	0.116	0.114	2431.38	2499.06	2363.69	2019.38	682.50	0	0	0	11.82	15.69	15.49
2411.83	5253	146.63	0.95	0.00	2429.6	2495.8	2363.4	2019.5	681.8	155.56	10.79	338	2419.82	0.00	0.40	3.48	0.000	0.188	0.046	2430.06	2496.44	2363.69	1972.56	2172.44	0	0	0	30.00	15.50	15.57
2607.45	292	147.16	0.95	80.00	2425.8	2489.1	2362.6	1972.6	2172.4	135.84	9.67	358	2614.89	0.00	0.00	3.57	0.000	0.000	0.109	2425.41	2489.00	2361.81	1971.94	3617.50	0	0	0	30.00	30.00	15.76
2683.54	1156	147.16	0.86	0.00	2423.5	2484.5	2362.4	1971.7	3617.8	126.92	12.11	373	2689.84	0.00	0.00	3.42	0.000	0.000	0.045	2421.12	2482.25	2360.00	1972.50	2124.50	0	0	0	30.00	30.00	15.83
2873.51	292	149.38	0.86	80.00	2423.6	2484.8	2362.4	1972.5	2118.4	108.22	9.60	393	2881.01	0.00	0.00	3.67	0.000	0.000	0.107	2423.97	2485.12	2362.81	1971.81	3616.81	0	0	0	30.00	30.00	15.88
2899.64	5253	149.38	0.82	0.00	2422.5	2482.7	2362.4	1972.2	3616.5	105.49	9.77	398	2907.18	0.00	0.22	3.38	0.000	0.191	0.045	2423.16	2483.25	2363.06	1939.50	2115.88	0	0	0	30.00	15.84	15.91
3094.70	10403	180.28	0.93	0.00	2422.6	2483.0	2362.2	1939.1	2115.9	89.29	8.31	418	3126.50	27.07	0.26	0.00	0.976	0.084	0.000	2294.75	2364.88	2224.62	1982.50	2114.88	0	0	0	11.84	15.96	30.00
3309.56	260	180.28	0.93	80.00	2292.3	2359.5	2225.1	1981.1	2115.1	67.27	10.14	440	3317.12	0.00	0.00	3.68	0.000	0.000	0.108	2290.59	2357.69	2223.50	1982.94	3619.00	0	0	0	30.00	30.00	15.93
3378.83	1028	180.28	0.93	0.00	2291.1	2357.5	2224.6	1982.8	3619.4	59.54	11.43	453	3385.16	0.00	0.00	3.39	0.000	0.000	0.047	2291.31	2358.38	2224.25	1982.88	2119.06	0	0	0	30.00	30.00	15.95
3569.81	8226	189.87	0.94	0.00	2291.1	2357.5	2224.6	1982.8	2118.6	41.35	9.27	482	3586.34	9.41	0.00	0.00	0.817	0.000	0.000	2255.12	2323.38	2186.88	1983.00	2118.50	0	0	0	11.80	30.00	30.00
3773.50	8486	199.87	0.95	80.00	2253.9	2321.4	2186.4	1982.9	2118.3	23.24	9.25	520	3792.39	9.86	0.00	3.68	0.818	0.000	0.109	2215.44	2285.56	2145.31	1983.38	3616.31	0	0	0	11.92	30.00	15.95
3881.92	9382	210.41	1.01	0.00	2212.9	2281.5	2144.2	1982.9	3616.0	11.55	9.22	541	3900.74	10.48	0.00	3.39	0.815	0.000	0.046	2170.91	2243.88	2097.94	1983.31	2117.75	0	0	0	11.88	30.00	15.99
4084.78	10663	381.71	1.45	80.00	2170.9	2242.8	2099.0	1983.4	2117.1	5.26	2.00	580	4192.63	99.49	0.74	0.00	0.919	0.079	0.000	1625.53	1732.69	1518.38	2102.50	2117.56	0	0	0	11.92	15.98	30.00
4193	end climb: NO_VERTICAL_VELOCITY
state	4193	begin surface