Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 17 * 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 17 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 3005.7734 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 1795.7603 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 17.930092 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.558946 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 8.3272657 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 15.558946 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.3272657 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 17.930092 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 1795.7603 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 3005.7734 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 17 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 250522,192709,4736.038,-12257.179,1,1.1,23,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -56.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,193202,4736.074,-12257.139,2,0.7,5,15.5 MHEAD_RNG_PITCHd_Wd 18.4,1946,-17.1,-9.697,-20.82,2278,0.167

SPEED_LIMITS 0.168,0.255 D_GRID 165

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653510912,5.0,0,stop _10V_AH 14.82,0.000

NET xm1t part outbox0007.n 1005 0 FG_AHR_24Vo 8.484

NET_PING 1653510495,25,1568.988037,8.200000,-2.083306 FG_AHR_10Vo 15.590

MODEM_MSG CACST,8,1,20220525200501.549885,18,12279,40,0299,0000,126,04,04,00,04,-1,-01,-01,2,3,1,0,150,2.0,0.97,-100,2.03,-01,0.33,57,925,0025,0,-1,00,00*3A MEM0 60132,1,0,0

FINISH 0.2,1.007607 MEM1 65508,1,0,0

SM_CCo 4117.33,135.26,0.928,0,528.2,545.0,511.3,607.57 MEM2 931136,27,115572,66

SM_GC 1.48,135.26,13.10,0.09,0.928,0.067,0.155,528.2,545.0,511.3,194.8,2176.8,0,0,0,11.89,15.70,15.69 DATA_FILE_SIZE 16139,549

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 369265,0

IRIDIUM_FIX 4736.47,-12303.31,250522,181951 SDSIZE 3887104,3866880

TCM_TEMP 17.59 SDFILEDIR 172,1

SC_FREEKB 3873344 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 1,1653509101,47.60000,-122.95000,1.550,2270.6 CURRENT 0.013, 6.9,1

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 MAGCAL 1.000000,0.001211,-0.028852,-0.004605,1.089702,-0.022991,0.011541,-0.058027,0.994471,61.6,-926.3,-438.9,29,0.0321,0

HUMID 49.33 IMPLIED_C_PITCH 1792,17.94,300,1794.1,17.94

TEMP 9.93 IMPLIED_C_VBD 3039,24.604486,300,3022.3

INTERNAL_PRESSURE 7.97027 GPS 250522,204135,4736.408,-12256.802,1,1.0,3,15.5

_24V_AH 14.86,9.731

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 637 1144 10852.04 nil 0 0 0.00

Pitch_motor 31 257 118.67 nil 0 0 0.00

Roll_motor 58 207 178.79 nil 0 0 0.00

Iridium 205 215 660.28 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 2480 5 188.21 SciCon 3958 6 382.45

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1761 0 8.35

Compass 1119 5 82.93

RAFOS 1007 40 597.19

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

6.60 16386 -146.63 -1.13 0.00 505.9 521.9 489.8 190.6 2169.1 0.00 0.00 0 82.70 72.52 0.00 0.00 0.005 0.000 0.000 2548.22 2588.06 2508.38 190.88 2169.31 0 0 0 15.82 30.00 30.00

83.00 18983 -146.63 -1.13 -80.00 2547.5 2586.8 2508.1 190.8 2169.7 3.18 -1.65 12 133.90 26.14 10.58 3.72 0.006 0.257 0.121 3603.84 3662.44 3545.25 1518.12 681.88 0 0 0 15.84 15.70 15.77

142.40 3237 -146.63 -0.89 0.00 3603.8 3661.6 3546.1 1518.8 681.9 9.76 -9.50 23 149.34 0.00 0.43 3.44 0.000 0.184 0.056 3604.12 3662.19 3546.06 1580.81 2173.50 0 0 0 30.00 15.75 15.81

334.62 676 -146.63 -0.92 -80.00 3604.6 3662.6 3546.7 1580.5 2173.9 23.68 -7.15 60 345.10 0.00 0.00 3.71 0.000 0.000 0.119 3604.97 3662.94 3547.00 1580.31 679.56 0 0 0 30.00 30.00 15.85

573.64 1060 -146.63 -0.92 0.00 3605.4 3662.4 3548.3 1580.1 679.4 43.20 -7.48 108 580.57 0.00 0.00 3.42 0.000 0.000 0.057 3605.25 3663.25 3547.25 1580.44 2172.50 0 0 0 30.00 30.00 15.97

769.20 160 -146.63 -0.97 0.00 3605.7 3662.9 3548.4 1579.9 2172.7 56.82 -7.35 138 770.81 0.00 0.00 0.00 0.000 0.000 0.000 3604.75 3662.06 3547.44 1580.12 2173.00 0 0 0 30.00 30.00 30.00

959.12 4257 -146.63 -1.02 0.00 3605.7 3662.9 3548.5 1580.1 2173.1 70.54 -6.98 157 969.12 0.00 0.29 0.00 0.000 0.076 0.000 3606.41 3663.19 3549.62 1531.19 2172.62 0 0 0 30.00 16.02 30.00

1158.23 2209 -146.63 -0.96 0.00 3605.9 3662.4 3549.4 1532.5 2172.6 88.38 -9.48 177 1160.10 0.00 0.28 0.00 0.000 0.171 0.000 3605.00 3662.06 3547.94 1559.38 2173.00 0 0 0 30.00 16.02 30.00

1348.16 32 -146.63 -0.96 0.00 3606.0 3662.9 3549.1 1561.9 2172.4 104.30 -8.13 196 1349.77 0.00 0.00 0.00 0.000 0.000 0.000 3605.03 3661.75 3548.31 1562.25 2172.31 0 0 0 30.00 30.00 30.00

1533.69 32 -146.63 -0.96 0.00 3606.2 3663.2 3549.3 1562.1 2172.8 119.46 -8.57 214 1539.28 0.00 0.00 0.00 0.000 0.000 0.000 3606.06 3662.62 3549.50 1562.38 2172.88 0 0 0 30.00 30.00 30.00

1723.23 32 -146.63 -0.96 0.00 3606.3 3663.2 3549.4 1560.9 2173.0 137.14 -9.06 233 1724.84 0.00 0.00 0.00 0.000 0.000 0.000 3605.50 3662.31 3548.69 1561.88 2171.62 0 0 0 30.00 30.00 30.00

1913.25 32 -146.63 -0.96 0.00 3606.0 3662.4 3549.7 1561.7 2173.1 154.00 -8.89 252 1914.86 0.00 0.00 0.00 0.000 0.000 0.000 3605.28 3661.50 3549.06 1561.94 2173.19 0 0 0 30.00 30.00 30.00

1983 end dive: TARGET_DEPTH_EXCEEDED

state 1983 begin apogee

1984.58 10243 0.00 -0.28 0.00 3606.0 3662.8 3549.2 1561.6 2114.9 160.08 -8.68 259 2099.22 103.18 1.13 0.10 1.145 0.146 0.207 3005.69 3063.06 2948.31 1729.75 2174.62 0 0 0 12.03 16.03 15.71

2100 end apogee: CONTROL_FINISHED_OK

state 2100 begin climb

2100.41 10243 146.63 1.13 0.00 3003.7 3061.3 2946.1 1730.7 2175.3 163.69 0.00 270 2220.71 107.07 2.35 0.00 1.107 0.118 0.000 2406.56 2476.12 2337.00 2070.00 2175.62 0 0 0 11.89 15.72 30.00

2408.35 4741 146.63 1.03 -80.00 2399.6 2473.6 2325.7 2071.8 2176.2 132.76 11.87 306 2415.98 0.00 0.28 3.83 0.000 0.162 0.125 2397.31 2472.12 2322.50 2039.44 683.12 0 0 0 30.00 15.73 15.72

2488.82 21639 146.63 0.91 0.00 2396.7 2470.5 2322.9 2039.1 682.9 122.29 12.77 322 2496.58 0.00 0.20 3.47 0.000 0.188 0.060 2397.47 2471.31 2323.62 2009.69 2167.62 0 0 0 30.00 15.76 15.80

2684.62 8870 151.44 0.95 -80.00 2396.2 2470.7 2321.7 2009.2 2167.9 103.96 9.48 342 2696.94 4.65 0.00 3.78 0.560 0.000 0.125 2387.22 2462.50 2311.94 2008.69 683.25 0 0 0 11.84 30.00 15.84

2747.93 1156 151.44 0.92 0.00 2385.2 2460.0 2310.3 2009.1 683.2 97.02 11.41 354 2754.06 0.00 0.00 3.45 0.000 0.000 0.058 2385.16 2460.25 2310.06 2009.00 2171.88 0 0 0 30.00 30.00 15.89

2938.10 10919 175.54 1.00 -80.00 2385.0 2459.9 2310.1 2009.2 2171.8 79.75 8.61 374 2966.86 20.06 0.22 3.79 0.978 0.082 0.124 2289.59 2365.88 2213.31 2047.19 680.62 0 0 0 11.98 15.97 15.86

2995.41 5253 175.54 0.89 0.00 2285.8 2361.9 2209.8 2046.8 681.1 73.09 12.65 385 3002.87 0.00 0.33 3.45 0.000 0.160 0.059 2286.34 2362.81 2209.88 2004.94 2172.25 0 0 0 30.00 15.86 15.92

3190.50 10919 195.00 1.00 -80.00 2284.8 2361.9 2207.8 2004.5 2171.5 55.11 8.82 405 3218.00 16.49 0.25 3.79 0.936 0.079 0.125 2208.94 2289.50 2128.38 2047.31 683.06 0 0 0 12.06 15.97 15.88

3271.55 5253 195.00 0.91 0.00 2204.6 2284.6 2124.6 2047.7 683.1 44.93 14.04 421 3278.64 0.00 0.29 3.44 0.000 0.158 0.059 2206.03 2285.75 2126.31 2010.06 2170.06 0 0 0 30.00 15.90 15.95

3462.41 10919 230.73 1.06 -80.00 2203.3 2284.1 2122.5 2009.5 2170.4 27.92 8.09 455 3501.25 27.43 0.30 3.79 0.953 0.075 0.124 2062.91 2146.75 1979.06 2059.69 683.00 0 0 0 11.97 15.97 15.84

3559.81 1156 230.73 1.01 0.00 2058.8 2143.6 1973.9 2061.1 683.1 16.97 11.54 474 3566.66 0.00 0.00 3.45 0.000 0.000 0.059 2060.41 2145.00 1975.81 2061.00 2170.44 0 0 0 30.00 30.00 15.90

3750.28 10663 367.27 1.36 80.00 2056.2 2142.9 1969.5 2061.0 2170.8 5.11 3.56 512 3858.45 94.82 0.43 3.63 0.948 0.080 0.126 1505.94 1592.12 1419.75 2131.81 3614.88 0 0 0 11.99 15.95 15.67

3862.16 11431 560.85 1.78 0.00 1504.9 1590.8 1419.1 2131.4 3614.8 3.39 1.00 533 3901.17 30.30 0.60 3.56 0.890 0.076 0.049 1341.94 1422.75 1261.12 2231.81 2118.25 0 0 0 11.84 15.71 15.73

3902 end climb: SURFACE_DEPTH_REACHED

state 3902 begin surface coast

3948 end surface coast: CONTROL_FINISHED_OK

state 3948 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	17	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	3005.7734	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	1795.7603	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	17.930092	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.558946	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	8.3272657	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	250522,192709,4736.038,-12257.179,1,1.1,23,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,193202,4736.074,-12257.139,2,0.7,5,15.5	MHEAD_RNG_PITCHd_Wd	18.4,1946,-17.1,-9.697,-20.82,2278,0.167
SPEED_LIMITS	0.168,0.255	D_GRID	165
TGT_NAME	N	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	4737.000,-12256.400

NAV	1653510912,5.0,0,stop	_10V_AH	14.82,0.000
NET	xm1t part outbox0007.n 1005 0	FG_AHR_24Vo	8.484
NET_PING	1653510495,25,1568.988037,8.200000,-2.083306	FG_AHR_10Vo	15.590
MODEM_MSG	CACST,8,1,20220525200501.549885,18,12279,40,0299,0000,126,04,04,00,04,-1,-01,-01,2,3,1,0,150,2.0,0.97,-100,2.03,-01,0.33,57,925,0025,0,-1,00,00*3A	MEM0	60132,1,0,0
FINISH	0.2,1.007607	MEM1	65508,1,0,0
SM_CCo	4117.33,135.26,0.928,0,528.2,545.0,511.3,607.57	MEM2	931136,27,115572,66
SM_GC	1.48,135.26,13.10,0.09,0.928,0.067,0.155,528.2,545.0,511.3,194.8,2176.8,0,0,0,11.89,15.70,15.69	DATA_FILE_SIZE	16139,549
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	369265,0
IRIDIUM_FIX	4736.47,-12303.31,250522,181951	SDSIZE	3887104,3866880
TCM_TEMP	17.59	SDFILEDIR	172,1
SC_FREEKB	3873344	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	1,1653509101,47.60000,-122.95000,1.550,2270.6	CURRENT	0.013, 6.9,1
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	MAGCAL	1.000000,0.001211,-0.028852,-0.004605,1.089702,-0.022991,0.011541,-0.058027,0.994471,61.6,-926.3,-438.9,29,0.0321,0
HUMID	49.33	IMPLIED_C_PITCH	1792,17.94,300,1794.1,17.94
TEMP	9.93	IMPLIED_C_VBD	3039,24.604486,300,3022.3
INTERNAL_PRESSURE	7.97027	GPS	250522,204135,4736.408,-12256.802,1,1.0,3,15.5
_24V_AH	14.86,9.731

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	637	1144	10852.04	nil	0	0	0.00
Pitch_motor	31	257	118.67	nil	0	0	0.00
Roll_motor	58	207	178.79	nil	0	0	0.00
Iridium	205	215	660.28	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	2480	5	188.21	SciCon	3958	6	382.45
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1761	0	8.35
Compass	1119	5	82.93
RAFOS	1007	40	597.19
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
6.60	16386	-146.63	-1.13	0.00	505.9	521.9	489.8	190.6	2169.1	0.00	0.00	0	82.70	72.52	0.00	0.00	0.005	0.000	0.000	2548.22	2588.06	2508.38	190.88	2169.31	0	0	0	15.82	30.00	30.00
83.00	18983	-146.63	-1.13	-80.00	2547.5	2586.8	2508.1	190.8	2169.7	3.18	-1.65	12	133.90	26.14	10.58	3.72	0.006	0.257	0.121	3603.84	3662.44	3545.25	1518.12	681.88	0	0	0	15.84	15.70	15.77
142.40	3237	-146.63	-0.89	0.00	3603.8	3661.6	3546.1	1518.8	681.9	9.76	-9.50	23	149.34	0.00	0.43	3.44	0.000	0.184	0.056	3604.12	3662.19	3546.06	1580.81	2173.50	0	0	0	30.00	15.75	15.81
334.62	676	-146.63	-0.92	-80.00	3604.6	3662.6	3546.7	1580.5	2173.9	23.68	-7.15	60	345.10	0.00	0.00	3.71	0.000	0.000	0.119	3604.97	3662.94	3547.00	1580.31	679.56	0	0	0	30.00	30.00	15.85
573.64	1060	-146.63	-0.92	0.00	3605.4	3662.4	3548.3	1580.1	679.4	43.20	-7.48	108	580.57	0.00	0.00	3.42	0.000	0.000	0.057	3605.25	3663.25	3547.25	1580.44	2172.50	0	0	0	30.00	30.00	15.97
769.20	160	-146.63	-0.97	0.00	3605.7	3662.9	3548.4	1579.9	2172.7	56.82	-7.35	138	770.81	0.00	0.00	0.00	0.000	0.000	0.000	3604.75	3662.06	3547.44	1580.12	2173.00	0	0	0	30.00	30.00	30.00
959.12	4257	-146.63	-1.02	0.00	3605.7	3662.9	3548.5	1580.1	2173.1	70.54	-6.98	157	969.12	0.00	0.29	0.00	0.000	0.076	0.000	3606.41	3663.19	3549.62	1531.19	2172.62	0	0	0	30.00	16.02	30.00
1158.23	2209	-146.63	-0.96	0.00	3605.9	3662.4	3549.4	1532.5	2172.6	88.38	-9.48	177	1160.10	0.00	0.28	0.00	0.000	0.171	0.000	3605.00	3662.06	3547.94	1559.38	2173.00	0	0	0	30.00	16.02	30.00
1348.16	32	-146.63	-0.96	0.00	3606.0	3662.9	3549.1	1561.9	2172.4	104.30	-8.13	196	1349.77	0.00	0.00	0.00	0.000	0.000	0.000	3605.03	3661.75	3548.31	1562.25	2172.31	0	0	0	30.00	30.00	30.00
1533.69	32	-146.63	-0.96	0.00	3606.2	3663.2	3549.3	1562.1	2172.8	119.46	-8.57	214	1539.28	0.00	0.00	0.00	0.000	0.000	0.000	3606.06	3662.62	3549.50	1562.38	2172.88	0	0	0	30.00	30.00	30.00
1723.23	32	-146.63	-0.96	0.00	3606.3	3663.2	3549.4	1560.9	2173.0	137.14	-9.06	233	1724.84	0.00	0.00	0.00	0.000	0.000	0.000	3605.50	3662.31	3548.69	1561.88	2171.62	0	0	0	30.00	30.00	30.00
1913.25	32	-146.63	-0.96	0.00	3606.0	3662.4	3549.7	1561.7	2173.1	154.00	-8.89	252	1914.86	0.00	0.00	0.00	0.000	0.000	0.000	3605.28	3661.50	3549.06	1561.94	2173.19	0	0	0	30.00	30.00	30.00
1983	end dive: TARGET_DEPTH_EXCEEDED
state	1983	begin apogee
1984.58	10243	0.00	-0.28	0.00	3606.0	3662.8	3549.2	1561.6	2114.9	160.08	-8.68	259	2099.22	103.18	1.13	0.10	1.145	0.146	0.207	3005.69	3063.06	2948.31	1729.75	2174.62	0	0	0	12.03	16.03	15.71
2100	end apogee: CONTROL_FINISHED_OK
state	2100	begin climb
2100.41	10243	146.63	1.13	0.00	3003.7	3061.3	2946.1	1730.7	2175.3	163.69	0.00	270	2220.71	107.07	2.35	0.00	1.107	0.118	0.000	2406.56	2476.12	2337.00	2070.00	2175.62	0	0	0	11.89	15.72	30.00
2408.35	4741	146.63	1.03	-80.00	2399.6	2473.6	2325.7	2071.8	2176.2	132.76	11.87	306	2415.98	0.00	0.28	3.83	0.000	0.162	0.125	2397.31	2472.12	2322.50	2039.44	683.12	0	0	0	30.00	15.73	15.72
2488.82	21639	146.63	0.91	0.00	2396.7	2470.5	2322.9	2039.1	682.9	122.29	12.77	322	2496.58	0.00	0.20	3.47	0.000	0.188	0.060	2397.47	2471.31	2323.62	2009.69	2167.62	0	0	0	30.00	15.76	15.80
2684.62	8870	151.44	0.95	-80.00	2396.2	2470.7	2321.7	2009.2	2167.9	103.96	9.48	342	2696.94	4.65	0.00	3.78	0.560	0.000	0.125	2387.22	2462.50	2311.94	2008.69	683.25	0	0	0	11.84	30.00	15.84
2747.93	1156	151.44	0.92	0.00	2385.2	2460.0	2310.3	2009.1	683.2	97.02	11.41	354	2754.06	0.00	0.00	3.45	0.000	0.000	0.058	2385.16	2460.25	2310.06	2009.00	2171.88	0	0	0	30.00	30.00	15.89
2938.10	10919	175.54	1.00	-80.00	2385.0	2459.9	2310.1	2009.2	2171.8	79.75	8.61	374	2966.86	20.06	0.22	3.79	0.978	0.082	0.124	2289.59	2365.88	2213.31	2047.19	680.62	0	0	0	11.98	15.97	15.86
2995.41	5253	175.54	0.89	0.00	2285.8	2361.9	2209.8	2046.8	681.1	73.09	12.65	385	3002.87	0.00	0.33	3.45	0.000	0.160	0.059	2286.34	2362.81	2209.88	2004.94	2172.25	0	0	0	30.00	15.86	15.92
3190.50	10919	195.00	1.00	-80.00	2284.8	2361.9	2207.8	2004.5	2171.5	55.11	8.82	405	3218.00	16.49	0.25	3.79	0.936	0.079	0.125	2208.94	2289.50	2128.38	2047.31	683.06	0	0	0	12.06	15.97	15.88
3271.55	5253	195.00	0.91	0.00	2204.6	2284.6	2124.6	2047.7	683.1	44.93	14.04	421	3278.64	0.00	0.29	3.44	0.000	0.158	0.059	2206.03	2285.75	2126.31	2010.06	2170.06	0	0	0	30.00	15.90	15.95
3462.41	10919	230.73	1.06	-80.00	2203.3	2284.1	2122.5	2009.5	2170.4	27.92	8.09	455	3501.25	27.43	0.30	3.79	0.953	0.075	0.124	2062.91	2146.75	1979.06	2059.69	683.00	0	0	0	11.97	15.97	15.84
3559.81	1156	230.73	1.01	0.00	2058.8	2143.6	1973.9	2061.1	683.1	16.97	11.54	474	3566.66	0.00	0.00	3.45	0.000	0.000	0.059	2060.41	2145.00	1975.81	2061.00	2170.44	0	0	0	30.00	30.00	15.90
3750.28	10663	367.27	1.36	80.00	2056.2	2142.9	1969.5	2061.0	2170.8	5.11	3.56	512	3858.45	94.82	0.43	3.63	0.948	0.080	0.126	1505.94	1592.12	1419.75	2131.81	3614.88	0	0	0	11.99	15.95	15.67
3862.16	11431	560.85	1.78	0.00	1504.9	1590.8	1419.1	2131.4	3614.8	3.39	1.00	533	3901.17	30.30	0.60	3.56	0.890	0.076	0.049	1341.94	1422.75	1261.12	2231.81	2118.25	0	0	0	11.84	15.71	15.73
3902	end climb: SURFACE_DEPTH_REACHED
state	3902	begin surface coast
3948	end surface coast: CONTROL_FINISHED_OK
state	3948	begin surface