Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 17 * 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 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 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 3038.3867 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 1749.7112 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 18.503975 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.959616 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 30.683231 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 19.959616 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.683231 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 18.503975 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 1749.7112 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 3038.3867 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 17 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 250522,221224,4736.490,-12256.658,11,1.4,15,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,221623,4736.522,-12256.611,2,1.1,5,15.5 MHEAD_RNG_PITCHd_Wd 193.6,1082,-17.1,-9.697,-20.82,2278,0.124

SPEED_LIMITS 0.168,0.255 D_GRID 167

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:

NET CACST,8,1,20220525232212.224199,06,32767,45,0109,0150,07,00,00,00,00,-1,-01,-01,1,3,2196,0,150,18.9,0.66,-100,2.34,-01,-0.53,68,10000,5000,0,-1,00,00*43 _10V_AH 14.85,0.000

NET_PING 1653519732,25,1714.852417,20.100000,-2.279499 FG_AHR_24Vo 30.846

NAV 1653520037,77.9,1,stop FG_AHR_10Vo 19.992

MODEM_MSG CACST,8,1,20220525230500.607954,18,32767,33,0159,0000,07,01,01,02,01,-1,-01,-01,1,3,1,0,150,11.9,0.22,-100,2.78,-01,-0.02,58,925,0025,0,-1,00,00*14 MEM0 60132,1,0,0

FINISH 1.2,1.020547 MEM1 65508,1,0,0

SM_CCo 4285.72,147.02,0.880,0,546.4,603.8,488.9,611.20 MEM2 944632,31,102076,62

SM_GC 1.02,147.02,12.14,0.10,0.880,0.091,0.135,546.4,603.8,488.9,197.1,2184.7,0,0,0,11.66,15.66,15.70 DATA_FILE_SIZE 16154,598

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 609367,0

IRIDIUM_FIX 4737.86,-12251.79,250522,205331 SDSIZE 3887104,3865920

TCM_TEMP 13.01 SDFILEDIR 179,1

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

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 1,1653519900,47.50000,-123.50000,0.608,890.7 CURRENT 0.041, 37.7,1

RAFOS_FIX 4733.292969,-12314.393555,250522,202002,2,510,8389.81 MAGCAL 1.000000,-0.004011,0.099752,-0.002238,1.141882,0.069009,-0.086314,-0.265765,1.135363,394.3,-1377.8,-330.7,33,0.0518,0

HUMID 48.54 IMPLIED_C_PITCH 1749,18.28,305,1749.3,18.39

TEMP 10.49 IMPLIED_C_VBD 3028,40.280762,305,3033.0

INTERNAL_PRESSURE 8.10373 GPS 250522,232852,4736.205,-12256.816,11,2.0,13,15.5

_24V_AH 14.81,10.781

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 687 1080 11006.06 nil 0 0 0.00

Pitch_motor 29 284 125.02 nil 0 0 0.00

Roll_motor 77 173 200.29 nil 0 0 0.00

Iridium 141 221 464.20 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.25 nil 0 0 0.00

Core 2634 5 200.33 SciCon 4116 6 422.11

Fast 4 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1686 0 8.01

Compass 1204 5 89.44

RAFOS 867 40 515.46

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.21 16386 -146.63 -1.10 0.00 493.0 566.1 420.0 202.3 2106.1 0.00 0.00 0 109.05 95.96 0.00 0.00 0.005 0.000 0.000 2669.69 2643.62 2695.75 202.56 2106.38 0 0 0 15.87 30.00 30.00

109.48 18727 -146.63 -1.10 80.00 2668.2 2642.7 2693.8 202.3 2106.2 3.31 -2.32 19 163.80 25.85 10.39 3.67 0.006 0.284 0.102 3636.06 3628.44 3643.69 1480.56 3619.19 0 0 0 15.93 15.75 15.84

177.44 3205 -146.63 -0.84 0.00 3636.1 3629.2 3643.0 1481.2 3619.1 12.87 -13.54 31 184.78 0.00 0.44 3.40 0.000 0.173 0.045 3635.41 3628.75 3642.06 1546.50 2117.44 0 0 0 30.00 15.82 15.89

368.00 32 -146.63 -0.84 0.00 3637.1 3632.0 3642.1 1546.5 2115.7 27.55 -7.26 68 372.67 0.00 0.00 0.00 0.000 0.000 0.000 3637.59 3633.00 3642.19 1546.88 2115.38 0 0 0 30.00 30.00 30.00

558.15 420 -146.63 -0.90 80.00 3637.1 3633.4 3640.8 1546.9 2116.2 39.88 -6.52 106 565.23 0.00 0.00 3.63 0.000 0.000 0.102 3638.00 3633.56 3642.44 1546.44 3617.88 0 0 0 30.00 30.00 15.96

653.84 1060 -146.63 -0.90 0.00 3637.5 3633.5 3641.6 1545.9 3617.7 47.77 -8.34 125 660.86 0.00 0.00 3.38 0.000 0.000 0.045 3637.56 3633.25 3641.88 1546.38 2115.12 0 0 0 30.00 30.00 16.00

843.55 4257 -146.63 -0.97 0.00 3638.0 3634.2 3641.8 1546.3 2114.5 61.09 -7.05 147 845.48 0.00 0.29 0.00 0.000 0.085 0.000 3637.53 3633.81 3641.25 1501.12 2114.81 0 0 0 30.00 15.99 30.00

1033.57 420 -146.63 -0.93 80.00 3638.1 3634.2 3642.0 1500.4 2114.6 78.83 -9.41 166 1040.98 0.00 0.00 3.65 0.000 0.000 0.103 3637.31 3634.06 3640.56 1500.69 3619.94 0 0 0 30.00 30.00 15.99

1114.00 3205 -146.63 -0.81 0.00 3637.7 3634.0 3641.3 1499.7 3620.2 87.64 -10.96 182 1122.08 0.00 0.41 3.37 0.000 0.172 0.045 3637.59 3633.50 3641.69 1552.62 2116.94 0 0 0 30.00 15.98 16.03

1309.82 160 -146.63 -0.88 0.00 3638.3 3634.5 3642.1 1552.7 2115.8 101.79 -7.04 202 1311.48 0.00 0.00 0.00 0.000 0.000 0.000 3637.31 3633.38 3641.25 1552.75 2116.44 0 0 0 30.00 30.00 30.00

1497.87 4517 -146.63 -0.95 80.00 3637.8 3634.1 3641.6 1552.8 2116.8 114.84 -6.81 221 1505.47 0.00 0.29 3.64 0.000 0.086 0.104 3637.75 3634.25 3641.25 1503.94 3619.75 0 0 0 30.00 16.07 16.07

1558.23 3205 -146.63 -0.85 0.00 3637.8 3634.1 3641.6 1503.1 3619.2 121.01 -10.76 232 1565.85 0.00 0.34 3.35 0.000 0.176 0.045 3639.50 3635.88 3643.12 1545.00 2115.44 0 0 0 30.00 16.02 16.08

1753.31 420 -146.63 -0.90 80.00 3638.0 3634.6 3641.3 1544.6 2116.1 136.82 -7.93 252 1760.74 0.00 0.00 3.64 0.000 0.000 0.104 3637.34 3633.94 3640.75 1544.56 3617.81 0 0 0 30.00 30.00 16.08

1793.62 1060 -146.63 -0.90 0.00 3637.8 3634.2 3641.4 1545.0 3617.2 140.48 -8.86 260 1801.48 0.00 0.00 3.36 0.000 0.000 0.046 3638.44 3634.62 3642.25 1544.94 2117.00 0 0 0 30.00 30.00 16.11

1987.49 4517 -146.63 -0.97 80.00 3638.2 3635.1 3641.2 1545.2 2117.2 155.40 -7.51 280 1995.16 0.00 0.26 3.63 0.000 0.088 0.104 3638.22 3634.31 3642.12 1500.50 3618.75 0 0 0 30.00 16.11 16.10

2023.82 3205 -146.63 -0.89 0.00 3637.9 3634.2 3641.5 1500.6 3619.4 159.12 -10.20 287 2031.34 0.00 0.29 3.34 0.000 0.179 0.045 3637.91 3634.19 3641.62 1535.12 2115.88 0 0 0 30.00 16.07 16.13

2039 end dive: TARGET_DEPTH_EXCEEDED

state 2039 begin apogee

2040.12 10243 0.00 -0.27 0.00 3638.0 3634.6 3641.5 1535.4 2183.9 160.60 -10.36 289 2160.68 111.46 1.02 0.11 1.080 0.150 0.174 3039.31 3092.69 2985.94 1683.81 2107.44 0 0 0 11.99 16.07 15.74

2162 end apogee: CONTROL_FINISHED_OK

state 2162 begin climb

2161.93 10243 146.63 1.10 0.00 3036.2 3089.1 2983.2 1684.4 2107.4 163.63 0.00 300 2288.80 115.49 2.30 0.00 1.036 0.119 0.000 2441.72 2508.38 2375.06 2018.06 2107.06 0 0 0 11.82 15.73 30.00

2472.42 4485 146.63 0.99 80.00 2433.9 2495.4 2372.4 2018.4 2107.5 132.08 12.16 339 2480.38 0.00 0.31 3.76 0.000 0.164 0.107 2434.72 2496.00 2373.44 1982.44 3615.62 0 0 0 30.00 15.72 15.75

2582.79 17542 146.63 0.88 0.00 2431.7 2490.8 2372.6 1982.2 3615.6 118.33 12.16 359 2590.55 0.00 0.00 3.41 0.000 0.000 0.047 2432.69 2491.94 2373.44 1982.44 2117.94 0 0 0 30.00 30.00 15.82

2778.44 16646 146.63 0.88 80.00 2431.4 2490.8 2372.1 1981.8 2117.2 98.87 9.71 379 2786.04 0.00 0.00 3.67 0.000 0.000 0.106 2433.94 2492.88 2375.00 1982.56 3615.62 0 0 0 30.00 30.00 15.85

2808.96 21639 146.63 0.80 0.00 2430.8 2488.9 2372.8 1982.6 3616.0 95.37 10.65 385 2816.96 0.00 0.30 3.41 0.000 0.176 0.046 2432.66 2490.38 2374.94 1936.75 2118.00 0 0 0 30.00 15.81 15.88

3004.76 10403 191.45 0.94 0.00 2431.0 2489.5 2372.6 1936.4 2117.1 79.70 7.68 405 3047.13 35.84 0.31 0.00 0.979 0.077 0.000 2256.62 2329.25 2184.00 1986.19 2116.38 0 0 0 11.79 15.92 30.00

3227.68 260 191.45 0.94 80.00 2253.1 2322.4 2183.8 1986.1 2116.1 57.61 10.05 428 3235.40 0.00 0.00 3.69 0.000 0.000 0.108 2253.69 2322.88 2184.50 1987.19 3617.00 0 0 0 30.00 30.00 15.90

3288.33 1156 191.45 0.89 0.00 2251.4 2319.4 2183.5 1986.7 3616.0 50.66 11.58 440 3296.02 0.00 0.00 3.39 0.000 0.000 0.047 2251.25 2319.12 2183.38 1986.50 2117.06 0 0 0 30.00 30.00 15.94

3478.00 8486 197.08 0.90 80.00 2251.1 2318.6 2183.6 1986.9 2116.1 32.93 9.44 476 3494.78 6.07 0.00 3.66 0.670 0.000 0.108 2235.69 2305.06 2166.31 1986.44 3616.81 0 0 0 11.91 30.00 15.95

3508.31 1028 197.08 0.90 0.00 2233.1 2302.2 2164.0 1987.0 3616.8 29.75 10.38 482 3515.40 0.00 0.00 3.38 0.000 0.000 0.046 2233.59 2302.75 2164.44 1987.06 2117.88 0 0 0 30.00 30.00 15.98

3699.09 8614 218.28 1.00 80.00 2233.0 2302.0 2164.0 1987.9 2118.4 12.41 8.74 520 3727.49 18.66 0.00 3.66 0.893 0.000 0.108 2147.09 2222.38 2071.81 1986.94 3616.81 0 0 0 11.86 30.00 15.94

3955.05 11431 429.87 1.39 0.00 2142.6 2214.9 2070.2 1986.8 3616.7 4.50 0.19 570 4100.78 131.62 0.62 3.39 0.921 0.074 0.044 1410.56 1524.56 1296.56 2096.06 2113.38 0 0 0 11.88 15.99 16.02

4101 end climb: SURFACE_DEPTH_REACHED

state 4101 begin surface coast

4105 end surface coast: CONTROL_FINISHED_OK

state 4105 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	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	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	3038.3867	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	1749.7112	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	18.503975	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.959616	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	30.683231	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	250522,221224,4736.490,-12256.658,11,1.4,15,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,221623,4736.522,-12256.611,2,1.1,5,15.5	MHEAD_RNG_PITCHd_Wd	193.6,1082,-17.1,-9.697,-20.82,2278,0.124
SPEED_LIMITS	0.168,0.255	D_GRID	167
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

NET	CACST,8,1,20220525232212.224199,06,32767,45,0109,0150,07,00,00,00,00,-1,-01,-01,1,3,2196,0,150,18.9,0.66,-100,2.34,-01,-0.53,68,10000,5000,0,-1,00,00*43	_10V_AH	14.85,0.000
NET_PING	1653519732,25,1714.852417,20.100000,-2.279499	FG_AHR_24Vo	30.846
NAV	1653520037,77.9,1,stop	FG_AHR_10Vo	19.992
MODEM_MSG	CACST,8,1,20220525230500.607954,18,32767,33,0159,0000,07,01,01,02,01,-1,-01,-01,1,3,1,0,150,11.9,0.22,-100,2.78,-01,-0.02,58,925,0025,0,-1,00,00*14	MEM0	60132,1,0,0
FINISH	1.2,1.020547	MEM1	65508,1,0,0
SM_CCo	4285.72,147.02,0.880,0,546.4,603.8,488.9,611.20	MEM2	944632,31,102076,62
SM_GC	1.02,147.02,12.14,0.10,0.880,0.091,0.135,546.4,603.8,488.9,197.1,2184.7,0,0,0,11.66,15.66,15.70	DATA_FILE_SIZE	16154,598
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	609367,0
IRIDIUM_FIX	4737.86,-12251.79,250522,205331	SDSIZE	3887104,3865920
TCM_TEMP	13.01	SDFILEDIR	179,1
SC_FREEKB	3873344	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	1,1653519900,47.50000,-123.50000,0.608,890.7	CURRENT	0.041, 37.7,1
RAFOS_FIX	4733.292969,-12314.393555,250522,202002,2,510,8389.81	MAGCAL	1.000000,-0.004011,0.099752,-0.002238,1.141882,0.069009,-0.086314,-0.265765,1.135363,394.3,-1377.8,-330.7,33,0.0518,0
HUMID	48.54	IMPLIED_C_PITCH	1749,18.28,305,1749.3,18.39
TEMP	10.49	IMPLIED_C_VBD	3028,40.280762,305,3033.0
INTERNAL_PRESSURE	8.10373	GPS	250522,232852,4736.205,-12256.816,11,2.0,13,15.5
_24V_AH	14.81,10.781

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	687	1080	11006.06	nil	0	0	0.00
Pitch_motor	29	284	125.02	nil	0	0	0.00
Roll_motor	77	173	200.29	nil	0	0	0.00
Iridium	141	221	464.20	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.25	nil	0	0	0.00
Core	2634	5	200.33	SciCon	4116	6	422.11
Fast	4	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1686	0	8.01
Compass	1204	5	89.44
RAFOS	867	40	515.46
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.21	16386	-146.63	-1.10	0.00	493.0	566.1	420.0	202.3	2106.1	0.00	0.00	0	109.05	95.96	0.00	0.00	0.005	0.000	0.000	2669.69	2643.62	2695.75	202.56	2106.38	0	0	0	15.87	30.00	30.00
109.48	18727	-146.63	-1.10	80.00	2668.2	2642.7	2693.8	202.3	2106.2	3.31	-2.32	19	163.80	25.85	10.39	3.67	0.006	0.284	0.102	3636.06	3628.44	3643.69	1480.56	3619.19	0	0	0	15.93	15.75	15.84
177.44	3205	-146.63	-0.84	0.00	3636.1	3629.2	3643.0	1481.2	3619.1	12.87	-13.54	31	184.78	0.00	0.44	3.40	0.000	0.173	0.045	3635.41	3628.75	3642.06	1546.50	2117.44	0	0	0	30.00	15.82	15.89
368.00	32	-146.63	-0.84	0.00	3637.1	3632.0	3642.1	1546.5	2115.7	27.55	-7.26	68	372.67	0.00	0.00	0.00	0.000	0.000	0.000	3637.59	3633.00	3642.19	1546.88	2115.38	0	0	0	30.00	30.00	30.00
558.15	420	-146.63	-0.90	80.00	3637.1	3633.4	3640.8	1546.9	2116.2	39.88	-6.52	106	565.23	0.00	0.00	3.63	0.000	0.000	0.102	3638.00	3633.56	3642.44	1546.44	3617.88	0	0	0	30.00	30.00	15.96
653.84	1060	-146.63	-0.90	0.00	3637.5	3633.5	3641.6	1545.9	3617.7	47.77	-8.34	125	660.86	0.00	0.00	3.38	0.000	0.000	0.045	3637.56	3633.25	3641.88	1546.38	2115.12	0	0	0	30.00	30.00	16.00
843.55	4257	-146.63	-0.97	0.00	3638.0	3634.2	3641.8	1546.3	2114.5	61.09	-7.05	147	845.48	0.00	0.29	0.00	0.000	0.085	0.000	3637.53	3633.81	3641.25	1501.12	2114.81	0	0	0	30.00	15.99	30.00
1033.57	420	-146.63	-0.93	80.00	3638.1	3634.2	3642.0	1500.4	2114.6	78.83	-9.41	166	1040.98	0.00	0.00	3.65	0.000	0.000	0.103	3637.31	3634.06	3640.56	1500.69	3619.94	0	0	0	30.00	30.00	15.99
1114.00	3205	-146.63	-0.81	0.00	3637.7	3634.0	3641.3	1499.7	3620.2	87.64	-10.96	182	1122.08	0.00	0.41	3.37	0.000	0.172	0.045	3637.59	3633.50	3641.69	1552.62	2116.94	0	0	0	30.00	15.98	16.03
1309.82	160	-146.63	-0.88	0.00	3638.3	3634.5	3642.1	1552.7	2115.8	101.79	-7.04	202	1311.48	0.00	0.00	0.00	0.000	0.000	0.000	3637.31	3633.38	3641.25	1552.75	2116.44	0	0	0	30.00	30.00	30.00
1497.87	4517	-146.63	-0.95	80.00	3637.8	3634.1	3641.6	1552.8	2116.8	114.84	-6.81	221	1505.47	0.00	0.29	3.64	0.000	0.086	0.104	3637.75	3634.25	3641.25	1503.94	3619.75	0	0	0	30.00	16.07	16.07
1558.23	3205	-146.63	-0.85	0.00	3637.8	3634.1	3641.6	1503.1	3619.2	121.01	-10.76	232	1565.85	0.00	0.34	3.35	0.000	0.176	0.045	3639.50	3635.88	3643.12	1545.00	2115.44	0	0	0	30.00	16.02	16.08
1753.31	420	-146.63	-0.90	80.00	3638.0	3634.6	3641.3	1544.6	2116.1	136.82	-7.93	252	1760.74	0.00	0.00	3.64	0.000	0.000	0.104	3637.34	3633.94	3640.75	1544.56	3617.81	0	0	0	30.00	30.00	16.08
1793.62	1060	-146.63	-0.90	0.00	3637.8	3634.2	3641.4	1545.0	3617.2	140.48	-8.86	260	1801.48	0.00	0.00	3.36	0.000	0.000	0.046	3638.44	3634.62	3642.25	1544.94	2117.00	0	0	0	30.00	30.00	16.11
1987.49	4517	-146.63	-0.97	80.00	3638.2	3635.1	3641.2	1545.2	2117.2	155.40	-7.51	280	1995.16	0.00	0.26	3.63	0.000	0.088	0.104	3638.22	3634.31	3642.12	1500.50	3618.75	0	0	0	30.00	16.11	16.10
2023.82	3205	-146.63	-0.89	0.00	3637.9	3634.2	3641.5	1500.6	3619.4	159.12	-10.20	287	2031.34	0.00	0.29	3.34	0.000	0.179	0.045	3637.91	3634.19	3641.62	1535.12	2115.88	0	0	0	30.00	16.07	16.13
2039	end dive: TARGET_DEPTH_EXCEEDED
state	2039	begin apogee
2040.12	10243	0.00	-0.27	0.00	3638.0	3634.6	3641.5	1535.4	2183.9	160.60	-10.36	289	2160.68	111.46	1.02	0.11	1.080	0.150	0.174	3039.31	3092.69	2985.94	1683.81	2107.44	0	0	0	11.99	16.07	15.74
2162	end apogee: CONTROL_FINISHED_OK
state	2162	begin climb
2161.93	10243	146.63	1.10	0.00	3036.2	3089.1	2983.2	1684.4	2107.4	163.63	0.00	300	2288.80	115.49	2.30	0.00	1.036	0.119	0.000	2441.72	2508.38	2375.06	2018.06	2107.06	0	0	0	11.82	15.73	30.00
2472.42	4485	146.63	0.99	80.00	2433.9	2495.4	2372.4	2018.4	2107.5	132.08	12.16	339	2480.38	0.00	0.31	3.76	0.000	0.164	0.107	2434.72	2496.00	2373.44	1982.44	3615.62	0	0	0	30.00	15.72	15.75
2582.79	17542	146.63	0.88	0.00	2431.7	2490.8	2372.6	1982.2	3615.6	118.33	12.16	359	2590.55	0.00	0.00	3.41	0.000	0.000	0.047	2432.69	2491.94	2373.44	1982.44	2117.94	0	0	0	30.00	30.00	15.82
2778.44	16646	146.63	0.88	80.00	2431.4	2490.8	2372.1	1981.8	2117.2	98.87	9.71	379	2786.04	0.00	0.00	3.67	0.000	0.000	0.106	2433.94	2492.88	2375.00	1982.56	3615.62	0	0	0	30.00	30.00	15.85
2808.96	21639	146.63	0.80	0.00	2430.8	2488.9	2372.8	1982.6	3616.0	95.37	10.65	385	2816.96	0.00	0.30	3.41	0.000	0.176	0.046	2432.66	2490.38	2374.94	1936.75	2118.00	0	0	0	30.00	15.81	15.88
3004.76	10403	191.45	0.94	0.00	2431.0	2489.5	2372.6	1936.4	2117.1	79.70	7.68	405	3047.13	35.84	0.31	0.00	0.979	0.077	0.000	2256.62	2329.25	2184.00	1986.19	2116.38	0	0	0	11.79	15.92	30.00
3227.68	260	191.45	0.94	80.00	2253.1	2322.4	2183.8	1986.1	2116.1	57.61	10.05	428	3235.40	0.00	0.00	3.69	0.000	0.000	0.108	2253.69	2322.88	2184.50	1987.19	3617.00	0	0	0	30.00	30.00	15.90
3288.33	1156	191.45	0.89	0.00	2251.4	2319.4	2183.5	1986.7	3616.0	50.66	11.58	440	3296.02	0.00	0.00	3.39	0.000	0.000	0.047	2251.25	2319.12	2183.38	1986.50	2117.06	0	0	0	30.00	30.00	15.94
3478.00	8486	197.08	0.90	80.00	2251.1	2318.6	2183.6	1986.9	2116.1	32.93	9.44	476	3494.78	6.07	0.00	3.66	0.670	0.000	0.108	2235.69	2305.06	2166.31	1986.44	3616.81	0	0	0	11.91	30.00	15.95
3508.31	1028	197.08	0.90	0.00	2233.1	2302.2	2164.0	1987.0	3616.8	29.75	10.38	482	3515.40	0.00	0.00	3.38	0.000	0.000	0.046	2233.59	2302.75	2164.44	1987.06	2117.88	0	0	0	30.00	30.00	15.98
3699.09	8614	218.28	1.00	80.00	2233.0	2302.0	2164.0	1987.9	2118.4	12.41	8.74	520	3727.49	18.66	0.00	3.66	0.893	0.000	0.108	2147.09	2222.38	2071.81	1986.94	3616.81	0	0	0	11.86	30.00	15.94
3955.05	11431	429.87	1.39	0.00	2142.6	2214.9	2070.2	1986.8	3616.7	4.50	0.19	570	4100.78	131.62	0.62	3.39	0.921	0.074	0.044	1410.56	1524.56	1296.56	2096.06	2113.38	0	0	0	11.88	15.99	16.02
4101	end climb: SURFACE_DEPTH_REACHED
state	4101	begin surface coast
4105	end surface coast: CONTROL_FINISHED_OK
state	4105	begin surface