Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 18 * 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 18 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 3022.3403 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 1794.1184 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 17.937222 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.592299 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 8.4921541 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 15.592299 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.4921541 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 17.937222 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 1794.1184 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 3022.3403 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 18 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 250522,204135,4736.408,-12256.802,1,1.0,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,204458,4736.441,-12256.771,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 9.5,1134,-17.1,-9.697,-20.82,2278,0.127

SPEED_LIMITS 0.168,0.255 D_GRID 167

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:

NET CACST,8,1,20220525214820.137702,06,32767,45,0101,0150,07,00,00,00,00,-1,-01,-01,1,3,16400,0,150,13.3,0.52,-100,2.48,-01,7.77,69,10000,5000,0,-1,00,00*5E FG_AHR_24Vo 8.651

NET_PING 1653514692,25,1825.353027,4.700000,-2.421289 FG_AHR_10Vo 15.619

NAV 1653514512,57.8,0,stop MEM0 60132,1,0,0

FINISH 0.2,1.013036 MEM1 65508,1,0,0

SM_CCo 3933.59,113.32,0.927,0,544.8,563.9,525.7,607.65 MEM2 944512,34,102136,62

SM_GC 1.48,113.32,12.59,0.10,0.927,0.059,0.138,544.8,563.9,525.7,186.1,2114.9,0,0,0,11.88,15.69,15.70 DATA_FILE_SIZE 16131,559

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 387590,0

IRIDIUM_FIX 4736.87,-12256.21,250522,192927 SDSIZE 3887104,3866528

TCM_TEMP 17.68 SDFILEDIR 181,1

SC_FREEKB 3873024 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 CURRENT 0.025, 77.4,1

HUMID 49.28 MAGCAL 1.000000,0.006120,-0.010768,0.007279,1.082950,-0.026180,0.005133,-0.035397,0.989121,46.4,-929.8,-431.4,36,0.0368,0

TEMP 9.94 IMPLIED_C_PITCH 1791,18.04,285,1792.6,17.99

INTERNAL_PRESSURE 7.97412 IMPLIED_C_VBD 3019,18.302118,285,3020.4

_24V_AH 14.91,9.916 GPS 250522,215126,4736.760,-12256.313,1,1.0,6,15.5

_10V_AH 14.91,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 636 1150 10916.40 nil 0 0 0.00

Pitch_motor 29 264 117.40 nil 0 0 0.00

Roll_motor 86 215 278.70 nil 0 0 0.00

Iridium 137 226 462.12 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2444 5 186.63 SciCon 3798 6 369.10

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1547 0 7.38

Compass 1115 5 83.16

RAFOS 863 40 514.83

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

6.74 16386 -146.63 -1.13 0.00 523.4 541.0 505.9 194.4 2132.6 0.00 0.00 0 76.51 66.32 0.00 0.00 0.005 0.000 0.000 2408.94 2449.06 2368.81 195.00 2131.69 0 0 0 15.77 30.00 30.00

76.81 18727 -146.63 -1.13 80.00 2407.9 2447.5 2368.3 194.9 2131.9 3.13 -2.84 13 132.54 30.99 10.68 3.71 0.005 0.264 0.121 3620.00 3677.81 3562.19 1518.88 3617.06 0 0 0 15.83 15.66 15.75

359.79 3205 -146.63 -0.97 0.00 3620.8 3676.9 3564.6 1518.9 3616.7 37.94 -13.27 68 366.73 0.00 0.28 3.52 0.000 0.182 0.054 3621.50 3677.94 3565.06 1558.00 2122.75 0 0 0 30.00 15.83 15.89

555.22 292 -146.63 -0.97 80.00 3621.7 3678.9 3564.5 1557.7 2122.8 54.32 -8.00 102 562.53 0.00 0.00 3.69 0.000 0.000 0.118 3622.16 3678.50 3565.81 1558.06 3616.44 0 0 0 30.00 30.00 15.92

711.18 1188 -146.63 -0.94 0.00 3621.7 3678.1 3565.2 1558.2 3616.8 69.17 -9.35 133 718.31 0.00 0.00 3.50 0.000 0.000 0.054 3621.41 3677.94 3564.88 1558.25 2122.06 0 0 0 30.00 30.00 15.99

899.36 548 -146.63 -0.94 -80.00 3621.8 3678.3 3565.4 1558.4 2121.9 83.89 -7.95 152 906.70 0.00 0.00 3.62 0.000 0.000 0.124 3621.19 3677.88 3564.50 1558.25 683.19 0 0 0 30.00 30.00 15.96

945.31 1188 -146.63 -0.90 0.00 3622.2 3679.4 3565.0 1558.5 683.1 88.03 -9.17 161 951.38 0.00 0.00 3.41 0.000 0.000 0.056 3621.53 3678.25 3564.81 1558.31 2172.19 0 0 0 30.00 30.00 16.01

1135.24 292 -146.63 -0.90 80.00 3622.4 3679.6 3565.2 1558.5 2173.1 104.57 -9.04 181 1142.51 0.00 0.00 3.57 0.000 0.000 0.124 3622.91 3680.06 3565.75 1558.06 3616.25 0 0 0 30.00 30.00 15.98

1171.08 3205 -146.63 -0.86 0.00 3622.6 3679.1 3566.1 1558.0 3617.3 108.29 -10.37 188 1178.42 0.00 0.17 3.47 0.000 0.177 0.053 3622.41 3679.44 3565.38 1586.25 2121.31 0 0 0 30.00 15.97 16.02

1361.95 160 -146.63 -0.93 0.00 3622.6 3679.2 3565.9 1586.2 2121.2 124.16 -8.23 207 1365.82 0.00 0.00 0.00 0.000 0.000 0.000 3622.59 3678.94 3566.25 1586.75 2121.69 0 0 0 30.00 30.00 30.00

1554.17 4257 -146.63 -1.00 0.00 3622.9 3679.9 3566.0 1586.1 2121.6 139.73 -7.59 227 1556.04 0.00 0.30 0.00 0.000 0.077 0.000 3621.81 3678.50 3565.12 1538.25 2121.25 0 0 0 30.00 16.07 30.00

1744.14 388 -146.63 -0.97 80.00 3623.1 3679.9 3566.3 1538.1 2121.3 157.78 -9.73 246 1751.45 0.00 0.00 3.68 0.000 0.000 0.121 3621.88 3678.94 3564.81 1537.00 3617.06 0 0 0 30.00 30.00 16.05

1764 end dive: TARGET_DEPTH_EXCEEDED

state 1764 begin apogee

1770.52 10243 0.00 -0.28 0.00 3622.7 3679.0 3566.4 1537.4 2123.2 160.04 -10.06 250 1882.18 103.29 1.39 0.09 1.151 0.158 0.216 3019.34 3076.50 2962.19 1727.38 2176.75 0 0 0 12.11 16.03 15.71

1883 end apogee: CONTROL_FINISHED_OK

state 1883 begin climb

1883.47 10759 146.63 1.13 -80.00 3019.5 3076.8 2962.2 1727.6 2177.0 164.06 0.00 261 2005.95 106.60 2.37 3.91 1.111 0.118 0.126 2422.47 2491.50 2353.44 2068.25 684.56 0 0 0 11.92 15.72 15.46

2053.79 21639 146.63 0.92 0.00 2416.0 2487.4 2344.7 2070.1 684.1 148.19 14.43 292 2061.71 0.00 0.47 3.48 0.000 0.162 0.058 2417.31 2488.62 2346.00 2010.50 2169.38 0 0 0 30.00 15.57 15.61

2244.50 8742 156.26 0.93 -80.00 2414.6 2487.4 2341.9 2010.7 2169.6 129.55 9.26 312 2261.41 8.66 0.00 3.77 0.847 0.000 0.125 2385.19 2460.75 2309.62 2010.56 683.00 0 0 0 12.00 30.00 15.73

2299.28 1156 156.26 0.88 0.00 2380.0 2455.0 2305.0 2010.8 682.9 123.64 11.30 323 2306.83 0.00 0.00 3.46 0.000 0.000 0.057 2381.44 2455.94 2306.94 2008.62 2169.88 0 0 0 30.00 30.00 15.80

2495.03 676 159.24 0.92 -80.00 2379.7 2455.1 2304.2 2010.8 2170.8 104.69 9.56 343 2502.59 0.00 0.00 3.74 0.000 0.000 0.124 2378.28 2454.19 2302.38 2010.50 683.12 0 0 0 30.00 30.00 15.85

2535.51 1156 159.24 0.89 0.00 2378.8 2454.9 2302.8 2010.8 683.1 100.21 11.01 351 2543.27 0.00 0.00 3.43 0.000 0.000 0.058 2381.41 2457.56 2305.25 2010.62 2171.25 0 0 0 30.00 30.00 15.90

2725.55 8870 177.39 0.96 -80.00 2378.8 2455.0 2302.7 2010.6 2171.6 82.88 8.88 370 2753.27 17.70 0.00 3.78 0.976 0.000 0.126 2295.00 2372.25 2217.75 2010.50 683.00 0 0 0 12.08 30.00 15.84

2786.82 1028 177.39 0.96 0.00 2293.3 2370.6 2216.1 2010.9 683.3 76.61 10.93 382 2793.22 0.00 0.00 3.45 0.000 0.000 0.057 2293.47 2371.06 2215.88 2008.62 2170.00 0 0 0 30.00 30.00 15.88

2977.00 10919 192.90 1.05 -80.00 2291.9 2370.6 2213.2 2010.6 2170.3 58.80 9.00 402 3000.88 13.50 0.29 3.77 0.917 0.075 0.124 2235.62 2315.38 2155.88 2059.88 684.31 0 0 0 11.99 15.94 15.86

3074.53 5253 192.90 0.92 0.00 2230.0 2310.1 2149.9 2060.1 684.4 45.99 14.13 421 3081.85 0.00 0.38 3.44 0.000 0.157 0.059 2230.72 2311.00 2150.44 2011.38 2169.75 0 0 0 30.00 15.89 15.94

3264.62 10919 209.71 1.03 -80.00 2229.3 2310.2 2148.4 2010.3 2169.1 27.88 8.94 458 3288.01 14.26 0.25 3.77 0.907 0.078 0.124 2164.47 2245.94 2083.00 2054.00 682.81 0 0 0 12.05 15.99 15.90

3316.65 1156 209.71 0.98 0.00 2163.2 2244.6 2081.8 2054.1 683.0 22.08 11.87 468 3323.67 0.00 0.00 3.44 0.000 0.000 0.057 2165.91 2247.69 2084.12 2054.25 2171.12 0 0 0 30.00 30.00 15.94

3507.36 10919 286.52 1.18 -80.00 2161.2 2244.5 2077.9 2054.3 2171.2 6.51 6.25 506 3573.20 55.28 0.15 3.79 0.956 0.102 0.122 1851.84 1945.44 1758.25 2087.81 683.00 0 0 0 12.05 15.99 15.79

3601.89 11431 440.67 1.50 0.00 1849.3 1942.7 1756.0 2087.5 683.1 4.47 2.77 524 3720.85 106.35 0.46 3.44 0.937 0.075 0.054 1226.41 1306.56 1146.25 2164.38 2176.56 0 0 0 11.91 15.85 15.86

3724 end climb: SURFACE_DEPTH_REACHED

state 3724 begin surface coast

3788 end surface coast: CONTROL_FINISHED_OK

state 3788 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	18	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	3022.3403	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	1794.1184	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	17.937222	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.592299	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	8.4921541	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	250522,204135,4736.408,-12256.802,1,1.0,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,204458,4736.441,-12256.771,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	9.5,1134,-17.1,-9.697,-20.82,2278,0.127
SPEED_LIMITS	0.168,0.255	D_GRID	167
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

NET	CACST,8,1,20220525214820.137702,06,32767,45,0101,0150,07,00,00,00,00,-1,-01,-01,1,3,16400,0,150,13.3,0.52,-100,2.48,-01,7.77,69,10000,5000,0,-1,00,00*5E	FG_AHR_24Vo	8.651
NET_PING	1653514692,25,1825.353027,4.700000,-2.421289	FG_AHR_10Vo	15.619
NAV	1653514512,57.8,0,stop	MEM0	60132,1,0,0
FINISH	0.2,1.013036	MEM1	65508,1,0,0
SM_CCo	3933.59,113.32,0.927,0,544.8,563.9,525.7,607.65	MEM2	944512,34,102136,62
SM_GC	1.48,113.32,12.59,0.10,0.927,0.059,0.138,544.8,563.9,525.7,186.1,2114.9,0,0,0,11.88,15.69,15.70	DATA_FILE_SIZE	16131,559
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	387590,0
IRIDIUM_FIX	4736.87,-12256.21,250522,192927	SDSIZE	3887104,3866528
TCM_TEMP	17.68	SDFILEDIR	181,1
SC_FREEKB	3873024	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	CURRENT	0.025, 77.4,1
HUMID	49.28	MAGCAL	1.000000,0.006120,-0.010768,0.007279,1.082950,-0.026180,0.005133,-0.035397,0.989121,46.4,-929.8,-431.4,36,0.0368,0
TEMP	9.94	IMPLIED_C_PITCH	1791,18.04,285,1792.6,17.99
INTERNAL_PRESSURE	7.97412	IMPLIED_C_VBD	3019,18.302118,285,3020.4
_24V_AH	14.91,9.916	GPS	250522,215126,4736.760,-12256.313,1,1.0,6,15.5
_10V_AH	14.91,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	636	1150	10916.40	nil	0	0	0.00
Pitch_motor	29	264	117.40	nil	0	0	0.00
Roll_motor	86	215	278.70	nil	0	0	0.00
Iridium	137	226	462.12	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2444	5	186.63	SciCon	3798	6	369.10
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1547	0	7.38
Compass	1115	5	83.16
RAFOS	863	40	514.83
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
6.74	16386	-146.63	-1.13	0.00	523.4	541.0	505.9	194.4	2132.6	0.00	0.00	0	76.51	66.32	0.00	0.00	0.005	0.000	0.000	2408.94	2449.06	2368.81	195.00	2131.69	0	0	0	15.77	30.00	30.00
76.81	18727	-146.63	-1.13	80.00	2407.9	2447.5	2368.3	194.9	2131.9	3.13	-2.84	13	132.54	30.99	10.68	3.71	0.005	0.264	0.121	3620.00	3677.81	3562.19	1518.88	3617.06	0	0	0	15.83	15.66	15.75
359.79	3205	-146.63	-0.97	0.00	3620.8	3676.9	3564.6	1518.9	3616.7	37.94	-13.27	68	366.73	0.00	0.28	3.52	0.000	0.182	0.054	3621.50	3677.94	3565.06	1558.00	2122.75	0	0	0	30.00	15.83	15.89
555.22	292	-146.63	-0.97	80.00	3621.7	3678.9	3564.5	1557.7	2122.8	54.32	-8.00	102	562.53	0.00	0.00	3.69	0.000	0.000	0.118	3622.16	3678.50	3565.81	1558.06	3616.44	0	0	0	30.00	30.00	15.92
711.18	1188	-146.63	-0.94	0.00	3621.7	3678.1	3565.2	1558.2	3616.8	69.17	-9.35	133	718.31	0.00	0.00	3.50	0.000	0.000	0.054	3621.41	3677.94	3564.88	1558.25	2122.06	0	0	0	30.00	30.00	15.99
899.36	548	-146.63	-0.94	-80.00	3621.8	3678.3	3565.4	1558.4	2121.9	83.89	-7.95	152	906.70	0.00	0.00	3.62	0.000	0.000	0.124	3621.19	3677.88	3564.50	1558.25	683.19	0	0	0	30.00	30.00	15.96
945.31	1188	-146.63	-0.90	0.00	3622.2	3679.4	3565.0	1558.5	683.1	88.03	-9.17	161	951.38	0.00	0.00	3.41	0.000	0.000	0.056	3621.53	3678.25	3564.81	1558.31	2172.19	0	0	0	30.00	30.00	16.01
1135.24	292	-146.63	-0.90	80.00	3622.4	3679.6	3565.2	1558.5	2173.1	104.57	-9.04	181	1142.51	0.00	0.00	3.57	0.000	0.000	0.124	3622.91	3680.06	3565.75	1558.06	3616.25	0	0	0	30.00	30.00	15.98
1171.08	3205	-146.63	-0.86	0.00	3622.6	3679.1	3566.1	1558.0	3617.3	108.29	-10.37	188	1178.42	0.00	0.17	3.47	0.000	0.177	0.053	3622.41	3679.44	3565.38	1586.25	2121.31	0	0	0	30.00	15.97	16.02
1361.95	160	-146.63	-0.93	0.00	3622.6	3679.2	3565.9	1586.2	2121.2	124.16	-8.23	207	1365.82	0.00	0.00	0.00	0.000	0.000	0.000	3622.59	3678.94	3566.25	1586.75	2121.69	0	0	0	30.00	30.00	30.00
1554.17	4257	-146.63	-1.00	0.00	3622.9	3679.9	3566.0	1586.1	2121.6	139.73	-7.59	227	1556.04	0.00	0.30	0.00	0.000	0.077	0.000	3621.81	3678.50	3565.12	1538.25	2121.25	0	0	0	30.00	16.07	30.00
1744.14	388	-146.63	-0.97	80.00	3623.1	3679.9	3566.3	1538.1	2121.3	157.78	-9.73	246	1751.45	0.00	0.00	3.68	0.000	0.000	0.121	3621.88	3678.94	3564.81	1537.00	3617.06	0	0	0	30.00	30.00	16.05
1764	end dive: TARGET_DEPTH_EXCEEDED
state	1764	begin apogee
1770.52	10243	0.00	-0.28	0.00	3622.7	3679.0	3566.4	1537.4	2123.2	160.04	-10.06	250	1882.18	103.29	1.39	0.09	1.151	0.158	0.216	3019.34	3076.50	2962.19	1727.38	2176.75	0	0	0	12.11	16.03	15.71
1883	end apogee: CONTROL_FINISHED_OK
state	1883	begin climb
1883.47	10759	146.63	1.13	-80.00	3019.5	3076.8	2962.2	1727.6	2177.0	164.06	0.00	261	2005.95	106.60	2.37	3.91	1.111	0.118	0.126	2422.47	2491.50	2353.44	2068.25	684.56	0	0	0	11.92	15.72	15.46
2053.79	21639	146.63	0.92	0.00	2416.0	2487.4	2344.7	2070.1	684.1	148.19	14.43	292	2061.71	0.00	0.47	3.48	0.000	0.162	0.058	2417.31	2488.62	2346.00	2010.50	2169.38	0	0	0	30.00	15.57	15.61
2244.50	8742	156.26	0.93	-80.00	2414.6	2487.4	2341.9	2010.7	2169.6	129.55	9.26	312	2261.41	8.66	0.00	3.77	0.847	0.000	0.125	2385.19	2460.75	2309.62	2010.56	683.00	0	0	0	12.00	30.00	15.73
2299.28	1156	156.26	0.88	0.00	2380.0	2455.0	2305.0	2010.8	682.9	123.64	11.30	323	2306.83	0.00	0.00	3.46	0.000	0.000	0.057	2381.44	2455.94	2306.94	2008.62	2169.88	0	0	0	30.00	30.00	15.80
2495.03	676	159.24	0.92	-80.00	2379.7	2455.1	2304.2	2010.8	2170.8	104.69	9.56	343	2502.59	0.00	0.00	3.74	0.000	0.000	0.124	2378.28	2454.19	2302.38	2010.50	683.12	0	0	0	30.00	30.00	15.85
2535.51	1156	159.24	0.89	0.00	2378.8	2454.9	2302.8	2010.8	683.1	100.21	11.01	351	2543.27	0.00	0.00	3.43	0.000	0.000	0.058	2381.41	2457.56	2305.25	2010.62	2171.25	0	0	0	30.00	30.00	15.90
2725.55	8870	177.39	0.96	-80.00	2378.8	2455.0	2302.7	2010.6	2171.6	82.88	8.88	370	2753.27	17.70	0.00	3.78	0.976	0.000	0.126	2295.00	2372.25	2217.75	2010.50	683.00	0	0	0	12.08	30.00	15.84
2786.82	1028	177.39	0.96	0.00	2293.3	2370.6	2216.1	2010.9	683.3	76.61	10.93	382	2793.22	0.00	0.00	3.45	0.000	0.000	0.057	2293.47	2371.06	2215.88	2008.62	2170.00	0	0	0	30.00	30.00	15.88
2977.00	10919	192.90	1.05	-80.00	2291.9	2370.6	2213.2	2010.6	2170.3	58.80	9.00	402	3000.88	13.50	0.29	3.77	0.917	0.075	0.124	2235.62	2315.38	2155.88	2059.88	684.31	0	0	0	11.99	15.94	15.86
3074.53	5253	192.90	0.92	0.00	2230.0	2310.1	2149.9	2060.1	684.4	45.99	14.13	421	3081.85	0.00	0.38	3.44	0.000	0.157	0.059	2230.72	2311.00	2150.44	2011.38	2169.75	0	0	0	30.00	15.89	15.94
3264.62	10919	209.71	1.03	-80.00	2229.3	2310.2	2148.4	2010.3	2169.1	27.88	8.94	458	3288.01	14.26	0.25	3.77	0.907	0.078	0.124	2164.47	2245.94	2083.00	2054.00	682.81	0	0	0	12.05	15.99	15.90
3316.65	1156	209.71	0.98	0.00	2163.2	2244.6	2081.8	2054.1	683.0	22.08	11.87	468	3323.67	0.00	0.00	3.44	0.000	0.000	0.057	2165.91	2247.69	2084.12	2054.25	2171.12	0	0	0	30.00	30.00	15.94
3507.36	10919	286.52	1.18	-80.00	2161.2	2244.5	2077.9	2054.3	2171.2	6.51	6.25	506	3573.20	55.28	0.15	3.79	0.956	0.102	0.122	1851.84	1945.44	1758.25	2087.81	683.00	0	0	0	12.05	15.99	15.79
3601.89	11431	440.67	1.50	0.00	1849.3	1942.7	1756.0	2087.5	683.1	4.47	2.77	524	3720.85	106.35	0.46	3.44	0.937	0.075	0.054	1226.41	1306.56	1146.25	2164.38	2176.56	0	0	0	11.91	15.85	15.86
3724	end climb: SURFACE_DEPTH_REACHED
state	3724	begin surface coast
3788	end surface coast: CONTROL_FINISHED_OK
state	3788	begin surface