Glider dive log

HoodCanal 24May22 * SG241 * Dive index * Mission links * Dive 2 * 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 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 603.25 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 15 C_VBD 3043.5193 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 1727.901 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 19.001163 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.364668 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 26.925804 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 2 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 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.364668 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 26.925804 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 19.001163 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 15 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 1727.901 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3043.5193 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 2 MISSION 6 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 240522,173010,4736.686,-12256.276,26,1.3,35,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,173626,4736.706,-12256.228,3,0.8,5,15.5 MHEAD_RNG_PITCHd_Wd 206.2,1625,-17.1,-9.697,-20.82,2278,0.125

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,0.012280,0.055121,0.009082,1.081495,-0.071882,0.020596,-0.050251,0.988661,436.639801,-1258.489990,-210.509354

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653417313,34.9,1,stop _10V_AH 14.92,0.000

NET CACST,8,1,20220524183215.147070,06,32767,45,0101,0150,07,00,00,00,00,1,045,121,3,5,7,0,150,15.0,5.35,-100,-2.35,-01,-0.17,73,10000,5000,0,5,01,01*5D FG_AHR_24Vo 27.089

NET_PING 1653416532,28,558.898499,10.000000,0.263246 FG_AHR_10Vo 19.392

MODEM_MSG CACST,8,1,20220524183432.759255,18,2104,33,0340,0000,246,01,01,00,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*13 MEM0 60132,1,0,0

FINISH 1.9,1.020202 MEM1 65508,1,0,0

SM_CCo 4187.98,221.75,0.895,0,584.9,646.6,523.2,602.97 MEM2 944492,32,102136,65

SM_GC 1.38,221.75,11.99,0.10,0.895,0.096,0.136,584.9,646.6,523.2,198.8,2185.8,0,0,0,11.66,15.92,15.95 DATA_FILE_SIZE 16129,558

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 396448,0

IRIDIUM_FIX 4736.87,-12256.21,240522,173130 SDSIZE 3887104,3872864

TCM_TEMP 13.09 SDFILEDIR 58,1

SC_FREEKB 3878144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1653415201,47.61230,-122.96660,1.244,1822.6 CURRENT 0.022,130.3,1

RAFOS_FIX 4734.808594,-12257.996094,240522,181803,2,510,3291.15 MAGCAL 1.000000,-0.019396,-0.205330,-0.044389,1.112122,-0.130698,0.080473,-0.021568,1.030227,691.4,-1208.9,-156.8,13,0.0373,0

HUMID 49.97 IMPLIED_C_PITCH 1749,18.53,307,1738.7,18.77

TEMP 10.69 IMPLIED_C_VBD 3049,29.901396,307,3046.4

INTERNAL_PRESSURE 8.12284 GPS 240522,184708,4736.313,-12256.608,1,1.1,4,15.5

_24V_AH 14.87,6.765

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 1074 10819.03 nil 0 0 0.00

Pitch_motor 30 296 133.91 nil 0 0 0.00

Roll_motor 84 174 218.27 nil 0 0 0.00

Iridium 251 211 792.11 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 2511 5 191.83 SciCon 3939 6 406.69

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1795 0 8.57

Compass 1133 5 84.55

RAFOS 1275 40 761.37

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

6.64 16386 -146.63 -1.08 0.00 536.6 605.3 467.8 197.1 2108.3 0.00 0.00 0 88.72 78.29 0.00 0.00 0.005 0.000 0.000 2371.50 2330.94 2412.06 197.31 2108.06 0 0 0 15.92 30.00 30.00

89.02 18727 -146.63 -1.08 80.00 2369.1 2329.1 2409.1 197.6 2108.3 3.24 -2.55 15 150.51 38.10 10.33 3.62 0.005 0.297 0.104 3640.16 3631.38 3648.94 1463.38 3619.12 0 0 0 15.97 15.79 15.91

173.97 3205 -146.63 -0.76 0.00 3640.4 3633.4 3647.4 1463.4 3619.1 11.46 -11.59 31 180.97 0.00 0.56 3.38 0.000 0.188 0.048 3641.94 3635.00 3648.88 1543.12 2114.75 0 0 0 30.00 15.89 15.95

365.70 32 -146.63 -0.76 0.00 3642.1 3638.4 3645.9 1543.0 2114.6 26.46 -6.59 69 370.23 0.00 0.00 0.00 0.000 0.000 0.000 3642.00 3638.44 3645.56 1543.25 2114.50 0 0 0 30.00 30.00 30.00

550.82 420 -146.63 -0.79 80.00 3642.2 3638.4 3646.1 1542.8 2114.1 38.98 -7.16 106 557.55 0.00 0.00 3.63 0.000 0.000 0.106 3642.31 3638.94 3645.69 1543.06 3619.06 0 0 0 30.00 30.00 16.03

640.99 1060 -146.63 -0.79 0.00 3641.9 3638.4 3645.3 1543.5 3619.2 47.09 -8.95 124 647.66 0.00 0.00 3.38 0.000 0.000 0.048 3643.59 3639.81 3647.38 1543.81 2115.25 0 0 0 30.00 30.00 16.06

835.17 676 -146.63 -0.84 -80.00 3642.2 3639.2 3645.2 1543.1 2114.3 60.98 -7.31 148 841.12 0.00 0.00 3.42 0.000 0.000 0.107 3642.75 3639.75 3645.75 1543.31 680.44 0 0 0 30.00 30.00 16.07

869.37 1060 -146.63 -0.84 0.00 3642.8 3639.9 3645.6 1542.9 680.1 63.93 -7.83 155 876.77 0.00 0.00 3.36 0.000 0.000 0.047 3642.31 3639.31 3645.31 1542.69 2176.69 0 0 0 30.00 30.00 16.11

1065.18 4517 -146.63 -0.90 80.00 3642.7 3640.3 3645.1 1543.4 2177.2 78.38 -7.06 175 1072.39 0.00 0.31 3.43 0.000 0.081 0.106 3643.72 3640.25 3647.19 1495.00 3620.38 0 0 0 30.00 16.11 16.10

1115.13 3205 -146.63 -0.74 0.00 3642.5 3639.6 3645.4 1494.5 3619.9 83.59 -10.94 185 1122.80 0.00 0.43 3.34 0.000 0.171 0.046 3643.72 3640.50 3646.94 1547.44 2114.62 0 0 0 30.00 16.07 16.12

1310.96 160 -146.63 -0.81 0.00 3642.3 3639.9 3644.8 1547.5 2114.9 98.20 -7.19 205 1312.53 0.00 0.00 0.00 0.000 0.000 0.000 3642.22 3640.06 3644.38 1547.31 2114.56 0 0 0 30.00 30.00 30.00

1495.29 4517 -146.63 -0.87 80.00 3642.5 3639.9 3645.1 1547.4 2114.1 111.75 -7.38 223 1502.49 0.00 0.28 3.60 0.000 0.086 0.106 3642.62 3640.44 3644.81 1500.75 3617.88 0 0 0 30.00 16.11 16.11

1533.64 3205 -146.63 -0.77 0.00 3642.9 3640.6 3645.1 1500.8 3618.8 115.64 -10.17 230 1545.53 0.00 0.33 3.36 0.000 0.175 0.048 3643.47 3640.75 3646.19 1540.12 2115.50 0 0 0 30.00 16.06 16.11

1733.80 160 -146.63 -0.83 0.00 3642.6 3640.2 3644.9 1540.2 2115.6 132.20 -8.51 251 1735.37 0.00 0.00 0.00 0.000 0.000 0.000 3642.31 3640.00 3644.62 1539.81 2115.38 0 0 0 30.00 30.00 30.00

1923.83 4257 -146.63 -0.90 0.00 3642.7 3640.2 3645.1 1540.2 2115.5 147.96 -8.28 270 1925.64 0.00 0.27 0.00 0.000 0.087 0.000 3641.97 3639.38 3644.56 1495.38 2115.94 0 0 0 30.00 16.13 30.00

2047 end dive: TARGET_DEPTH_EXCEEDED

state 2047 begin apogee

2048.05 10243 0.00 -0.26 0.00 3642.4 3639.8 3645.0 1495.4 2184.0 160.40 -10.30 283 2167.28 111.15 1.23 0.11 1.075 0.157 0.175 3040.81 3094.00 2987.62 1664.06 2108.44 0 0 0 11.85 16.12 15.78

2168 end apogee: CONTROL_FINISHED_OK

state 2168 begin climb

2168.35 10759 146.63 1.08 -80.00 3042.1 3095.3 2988.9 1664.1 2108.3 164.80 0.00 294 2297.39 113.81 2.23 3.54 1.033 0.127 0.113 2444.50 2511.44 2377.56 1990.12 682.81 0 0 0 11.75 15.77 15.57

2300.27 9382 162.92 0.99 0.00 2443.4 2509.5 2377.4 1989.8 682.6 156.41 8.97 308 2322.74 15.07 0.00 3.46 0.910 0.000 0.047 2377.56 2446.38 2308.75 1990.00 2176.25 0 0 0 11.70 30.00 15.62

2506.17 4485 162.92 0.93 80.00 2373.4 2438.0 2308.8 1989.5 2176.1 132.50 11.97 331 2513.46 0.00 0.37 3.54 0.000 0.177 0.111 2373.72 2438.44 2309.00 1945.88 3621.44 0 0 0 30.00 15.78 15.81

2576.12 1028 162.92 0.93 0.00 2371.1 2434.2 2308.1 1945.7 3621.0 124.69 10.82 345 2583.63 0.00 0.00 3.41 0.000 0.000 0.048 2371.50 2434.56 2308.44 1946.12 2117.12 0 0 0 30.00 30.00 15.88

2767.12 8614 178.62 1.01 80.00 2371.2 2434.2 2308.2 1946.2 2117.2 107.43 8.99 365 2789.62 13.56 0.00 3.67 0.911 0.000 0.112 2313.38 2380.38 2246.38 1945.88 3616.38 0 0 0 11.76 30.00 15.89

2848.02 1028 178.62 1.01 0.00 2311.9 2377.2 2246.7 1946.4 3616.2 99.09 10.89 381 2854.00 0.00 0.00 3.39 0.000 0.000 0.048 2313.50 2378.50 2248.50 1945.88 2117.06 0 0 0 30.00 30.00 15.95

3038.15 10663 198.73 1.11 80.00 2312.0 2377.4 2246.6 1945.9 2117.0 81.58 8.79 401 3065.39 17.73 0.37 3.64 0.942 0.078 0.112 2231.50 2302.62 2160.38 2004.75 3616.56 0 0 0 11.82 16.01 15.93

3103.15 5253 198.73 0.98 0.00 2229.6 2299.2 2159.9 2003.9 3615.7 73.25 14.11 414 3110.76 0.00 0.35 3.37 0.000 0.175 0.048 2230.88 2300.38 2161.38 1958.19 2117.25 0 0 0 30.00 15.91 15.97

3292.20 10663 206.05 1.07 80.00 2228.9 2297.9 2159.8 1958.5 2118.1 54.97 9.37 433 3314.19 7.76 0.22 3.64 0.774 0.092 0.111 2204.66 2275.56 2133.75 1992.56 3618.56 0 0 0 11.77 15.99 15.95

3331.94 5253 206.05 0.99 0.00 2201.6 2271.4 2131.9 1992.1 3617.9 50.31 12.07 440 3339.52 0.00 0.25 3.38 0.000 0.172 0.048 2202.38 2271.75 2133.00 1961.12 2117.56 0 0 0 30.00 15.93 15.98

3523.16 10663 229.99 1.11 80.00 2201.1 2270.9 2131.4 1961.1 2118.7 32.76 8.62 478 3551.06 19.77 0.26 3.66 0.919 0.086 0.111 2105.41 2183.25 2027.56 2003.19 3617.25 0 0 0 11.81 16.02 15.94

3589.52 1156 229.99 1.05 0.00 2101.9 2178.2 2025.6 2003.4 3618.1 25.66 11.59 491 3596.15 0.00 0.00 3.38 0.000 0.000 0.048 2104.28 2180.06 2028.50 2002.81 2118.19 0 0 0 30.00 30.00 15.99

3779.62 8614 269.41 1.18 80.00 2101.1 2176.1 2026.2 2003.1 2117.9 7.74 7.93 529 3817.99 30.92 0.00 3.66 0.915 0.000 0.110 1940.09 2028.31 1851.88 2003.44 3616.75 0 0 0 11.84 30.00 15.92

3911.78 11431 400.14 1.50 0.00 1939.3 2023.4 1855.2 2003.2 3616.1 2.13 3.83 554 3928.05 9.15 0.56 3.39 0.776 0.077 0.046 1904.91 1990.19 1819.62 2098.19 2112.00 0 0 0 11.73 15.95 15.97

3928 end climb: SURFACE_DEPTH_REACHED

state 3928 begin surface coast

3932 end surface coast: CONTROL_FINISHED_OK

state 3932 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	603.25	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	15	C_VBD	3043.5193	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	1727.901	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	19.001163	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.364668	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	26.925804	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	240522,173010,4736.686,-12256.276,26,1.3,35,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,173626,4736.706,-12256.228,3,0.8,5,15.5	MHEAD_RNG_PITCHd_Wd	206.2,1625,-17.1,-9.697,-20.82,2278,0.125
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.012280,0.055121,0.009082,1.081495,-0.071882,0.020596,-0.050251,0.988661,436.639801,-1258.489990,-210.509354
TGT_LATLONG	4736.000,-12257.000

NAV	1653417313,34.9,1,stop	_10V_AH	14.92,0.000
NET	CACST,8,1,20220524183215.147070,06,32767,45,0101,0150,07,00,00,00,00,1,045,121,3,5,7,0,150,15.0,5.35,-100,-2.35,-01,-0.17,73,10000,5000,0,5,01,01*5D	FG_AHR_24Vo	27.089
NET_PING	1653416532,28,558.898499,10.000000,0.263246	FG_AHR_10Vo	19.392
MODEM_MSG	CACST,8,1,20220524183432.759255,18,2104,33,0340,0000,246,01,01,00,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*13	MEM0	60132,1,0,0
FINISH	1.9,1.020202	MEM1	65508,1,0,0
SM_CCo	4187.98,221.75,0.895,0,584.9,646.6,523.2,602.97	MEM2	944492,32,102136,65
SM_GC	1.38,221.75,11.99,0.10,0.895,0.096,0.136,584.9,646.6,523.2,198.8,2185.8,0,0,0,11.66,15.92,15.95	DATA_FILE_SIZE	16129,558
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	396448,0
IRIDIUM_FIX	4736.87,-12256.21,240522,173130	SDSIZE	3887104,3872864
TCM_TEMP	13.09	SDFILEDIR	58,1
SC_FREEKB	3878144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1653415201,47.61230,-122.96660,1.244,1822.6	CURRENT	0.022,130.3,1
RAFOS_FIX	4734.808594,-12257.996094,240522,181803,2,510,3291.15	MAGCAL	1.000000,-0.019396,-0.205330,-0.044389,1.112122,-0.130698,0.080473,-0.021568,1.030227,691.4,-1208.9,-156.8,13,0.0373,0
HUMID	49.97	IMPLIED_C_PITCH	1749,18.53,307,1738.7,18.77
TEMP	10.69	IMPLIED_C_VBD	3049,29.901396,307,3046.4
INTERNAL_PRESSURE	8.12284	GPS	240522,184708,4736.313,-12256.608,1,1.1,4,15.5
_24V_AH	14.87,6.765

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	1074	10819.03	nil	0	0	0.00
Pitch_motor	30	296	133.91	nil	0	0	0.00
Roll_motor	84	174	218.27	nil	0	0	0.00
Iridium	251	211	792.11	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	2511	5	191.83	SciCon	3939	6	406.69
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1795	0	8.57
Compass	1133	5	84.55
RAFOS	1275	40	761.37
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
6.64	16386	-146.63	-1.08	0.00	536.6	605.3	467.8	197.1	2108.3	0.00	0.00	0	88.72	78.29	0.00	0.00	0.005	0.000	0.000	2371.50	2330.94	2412.06	197.31	2108.06	0	0	0	15.92	30.00	30.00
89.02	18727	-146.63	-1.08	80.00	2369.1	2329.1	2409.1	197.6	2108.3	3.24	-2.55	15	150.51	38.10	10.33	3.62	0.005	0.297	0.104	3640.16	3631.38	3648.94	1463.38	3619.12	0	0	0	15.97	15.79	15.91
173.97	3205	-146.63	-0.76	0.00	3640.4	3633.4	3647.4	1463.4	3619.1	11.46	-11.59	31	180.97	0.00	0.56	3.38	0.000	0.188	0.048	3641.94	3635.00	3648.88	1543.12	2114.75	0	0	0	30.00	15.89	15.95
365.70	32	-146.63	-0.76	0.00	3642.1	3638.4	3645.9	1543.0	2114.6	26.46	-6.59	69	370.23	0.00	0.00	0.00	0.000	0.000	0.000	3642.00	3638.44	3645.56	1543.25	2114.50	0	0	0	30.00	30.00	30.00
550.82	420	-146.63	-0.79	80.00	3642.2	3638.4	3646.1	1542.8	2114.1	38.98	-7.16	106	557.55	0.00	0.00	3.63	0.000	0.000	0.106	3642.31	3638.94	3645.69	1543.06	3619.06	0	0	0	30.00	30.00	16.03
640.99	1060	-146.63	-0.79	0.00	3641.9	3638.4	3645.3	1543.5	3619.2	47.09	-8.95	124	647.66	0.00	0.00	3.38	0.000	0.000	0.048	3643.59	3639.81	3647.38	1543.81	2115.25	0	0	0	30.00	30.00	16.06
835.17	676	-146.63	-0.84	-80.00	3642.2	3639.2	3645.2	1543.1	2114.3	60.98	-7.31	148	841.12	0.00	0.00	3.42	0.000	0.000	0.107	3642.75	3639.75	3645.75	1543.31	680.44	0	0	0	30.00	30.00	16.07
869.37	1060	-146.63	-0.84	0.00	3642.8	3639.9	3645.6	1542.9	680.1	63.93	-7.83	155	876.77	0.00	0.00	3.36	0.000	0.000	0.047	3642.31	3639.31	3645.31	1542.69	2176.69	0	0	0	30.00	30.00	16.11
1065.18	4517	-146.63	-0.90	80.00	3642.7	3640.3	3645.1	1543.4	2177.2	78.38	-7.06	175	1072.39	0.00	0.31	3.43	0.000	0.081	0.106	3643.72	3640.25	3647.19	1495.00	3620.38	0	0	0	30.00	16.11	16.10
1115.13	3205	-146.63	-0.74	0.00	3642.5	3639.6	3645.4	1494.5	3619.9	83.59	-10.94	185	1122.80	0.00	0.43	3.34	0.000	0.171	0.046	3643.72	3640.50	3646.94	1547.44	2114.62	0	0	0	30.00	16.07	16.12
1310.96	160	-146.63	-0.81	0.00	3642.3	3639.9	3644.8	1547.5	2114.9	98.20	-7.19	205	1312.53	0.00	0.00	0.00	0.000	0.000	0.000	3642.22	3640.06	3644.38	1547.31	2114.56	0	0	0	30.00	30.00	30.00
1495.29	4517	-146.63	-0.87	80.00	3642.5	3639.9	3645.1	1547.4	2114.1	111.75	-7.38	223	1502.49	0.00	0.28	3.60	0.000	0.086	0.106	3642.62	3640.44	3644.81	1500.75	3617.88	0	0	0	30.00	16.11	16.11
1533.64	3205	-146.63	-0.77	0.00	3642.9	3640.6	3645.1	1500.8	3618.8	115.64	-10.17	230	1545.53	0.00	0.33	3.36	0.000	0.175	0.048	3643.47	3640.75	3646.19	1540.12	2115.50	0	0	0	30.00	16.06	16.11
1733.80	160	-146.63	-0.83	0.00	3642.6	3640.2	3644.9	1540.2	2115.6	132.20	-8.51	251	1735.37	0.00	0.00	0.00	0.000	0.000	0.000	3642.31	3640.00	3644.62	1539.81	2115.38	0	0	0	30.00	30.00	30.00
1923.83	4257	-146.63	-0.90	0.00	3642.7	3640.2	3645.1	1540.2	2115.5	147.96	-8.28	270	1925.64	0.00	0.27	0.00	0.000	0.087	0.000	3641.97	3639.38	3644.56	1495.38	2115.94	0	0	0	30.00	16.13	30.00
2047	end dive: TARGET_DEPTH_EXCEEDED
state	2047	begin apogee
2048.05	10243	0.00	-0.26	0.00	3642.4	3639.8	3645.0	1495.4	2184.0	160.40	-10.30	283	2167.28	111.15	1.23	0.11	1.075	0.157	0.175	3040.81	3094.00	2987.62	1664.06	2108.44	0	0	0	11.85	16.12	15.78
2168	end apogee: CONTROL_FINISHED_OK
state	2168	begin climb
2168.35	10759	146.63	1.08	-80.00	3042.1	3095.3	2988.9	1664.1	2108.3	164.80	0.00	294	2297.39	113.81	2.23	3.54	1.033	0.127	0.113	2444.50	2511.44	2377.56	1990.12	682.81	0	0	0	11.75	15.77	15.57
2300.27	9382	162.92	0.99	0.00	2443.4	2509.5	2377.4	1989.8	682.6	156.41	8.97	308	2322.74	15.07	0.00	3.46	0.910	0.000	0.047	2377.56	2446.38	2308.75	1990.00	2176.25	0	0	0	11.70	30.00	15.62
2506.17	4485	162.92	0.93	80.00	2373.4	2438.0	2308.8	1989.5	2176.1	132.50	11.97	331	2513.46	0.00	0.37	3.54	0.000	0.177	0.111	2373.72	2438.44	2309.00	1945.88	3621.44	0	0	0	30.00	15.78	15.81
2576.12	1028	162.92	0.93	0.00	2371.1	2434.2	2308.1	1945.7	3621.0	124.69	10.82	345	2583.63	0.00	0.00	3.41	0.000	0.000	0.048	2371.50	2434.56	2308.44	1946.12	2117.12	0	0	0	30.00	30.00	15.88
2767.12	8614	178.62	1.01	80.00	2371.2	2434.2	2308.2	1946.2	2117.2	107.43	8.99	365	2789.62	13.56	0.00	3.67	0.911	0.000	0.112	2313.38	2380.38	2246.38	1945.88	3616.38	0	0	0	11.76	30.00	15.89
2848.02	1028	178.62	1.01	0.00	2311.9	2377.2	2246.7	1946.4	3616.2	99.09	10.89	381	2854.00	0.00	0.00	3.39	0.000	0.000	0.048	2313.50	2378.50	2248.50	1945.88	2117.06	0	0	0	30.00	30.00	15.95
3038.15	10663	198.73	1.11	80.00	2312.0	2377.4	2246.6	1945.9	2117.0	81.58	8.79	401	3065.39	17.73	0.37	3.64	0.942	0.078	0.112	2231.50	2302.62	2160.38	2004.75	3616.56	0	0	0	11.82	16.01	15.93
3103.15	5253	198.73	0.98	0.00	2229.6	2299.2	2159.9	2003.9	3615.7	73.25	14.11	414	3110.76	0.00	0.35	3.37	0.000	0.175	0.048	2230.88	2300.38	2161.38	1958.19	2117.25	0	0	0	30.00	15.91	15.97
3292.20	10663	206.05	1.07	80.00	2228.9	2297.9	2159.8	1958.5	2118.1	54.97	9.37	433	3314.19	7.76	0.22	3.64	0.774	0.092	0.111	2204.66	2275.56	2133.75	1992.56	3618.56	0	0	0	11.77	15.99	15.95
3331.94	5253	206.05	0.99	0.00	2201.6	2271.4	2131.9	1992.1	3617.9	50.31	12.07	440	3339.52	0.00	0.25	3.38	0.000	0.172	0.048	2202.38	2271.75	2133.00	1961.12	2117.56	0	0	0	30.00	15.93	15.98
3523.16	10663	229.99	1.11	80.00	2201.1	2270.9	2131.4	1961.1	2118.7	32.76	8.62	478	3551.06	19.77	0.26	3.66	0.919	0.086	0.111	2105.41	2183.25	2027.56	2003.19	3617.25	0	0	0	11.81	16.02	15.94
3589.52	1156	229.99	1.05	0.00	2101.9	2178.2	2025.6	2003.4	3618.1	25.66	11.59	491	3596.15	0.00	0.00	3.38	0.000	0.000	0.048	2104.28	2180.06	2028.50	2002.81	2118.19	0	0	0	30.00	30.00	15.99
3779.62	8614	269.41	1.18	80.00	2101.1	2176.1	2026.2	2003.1	2117.9	7.74	7.93	529	3817.99	30.92	0.00	3.66	0.915	0.000	0.110	1940.09	2028.31	1851.88	2003.44	3616.75	0	0	0	11.84	30.00	15.92
3911.78	11431	400.14	1.50	0.00	1939.3	2023.4	1855.2	2003.2	3616.1	2.13	3.83	554	3928.05	9.15	0.56	3.39	0.776	0.077	0.046	1904.91	1990.19	1819.62	2098.19	2112.00	0	0	0	11.73	15.95	15.97
3928	end climb: SURFACE_DEPTH_REACHED
state	3928	begin surface coast
3932	end surface coast: CONTROL_FINISHED_OK
state	3932	begin surface