Glider dive log

HoodCanal 24May22.01 * 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 7 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 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 3069.7612 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 1751.5302 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 18.720917 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.581018 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 28.06756 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 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.581018 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.06756 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 18.720917 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 1751.5302 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 3069.7612 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 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 250522,032210,4736.997,-12256.464,4,1.1,12,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,032524,4737.032,-12256.393,3,1.1,5,15.5 MHEAD_RNG_PITCHd_Wd 192.5,2057,-17.1,-9.697,-20.82,2278,0.128

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.015611,0.041123,0.003288,1.054914,-0.062798,0.019092,-0.032835,0.971622,424.436157,-1305.731079,-157.121933

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653453424,-0.0,0,stop _10V_AH 15.00,0.000

NET xm1t part outbox0001.n 925 9 FG_AHR_24Vo 28.236

NET_PING 1653451930,28,707.109009,13.300000,0.060384 FG_AHR_10Vo 19.614

MODEM_MSG CACST,8,1,20220525040429.541210,18,32767,45,0107,0000,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-39.8,0.53,-100,2.47,-01,0.03,67,925,0025,0,-1,00,00*25 MEM0 60132,1,0,0

FREEZE 2.39,13.493,-1.450,0,1,0 MEM1 65508,1,0,0

SM_CCo 4152.32,194.82,0.883,0,500.8,575.2,426.3,629.99 MEM2 944592,31,102116,62

SM_GC 1.02,0.00,12.20,3.48,0.000,0.083,0.048,497.4,575.2,419.6,203.6,2122.6,0,0,0,30.00,15.58,15.59 DATA_FILE_SIZE 16095,560

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 400884,0

IRIDIUM_FIX 4738.33,-12256.21,250522,020313 SDSIZE 3887104,3870560

TCM_TEMP 13.14 SDFILEDIR 69,1

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

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1653451319,47.61230,-122.96660,119.662,175305.2 CURRENT 0.019, 76.6,1

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 MAGCAL 1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.3,-1341.5,-215.5,20,0.0286,1

HUMID 49.24 IMPLIED_C_PITCH 1745,18.11,300,1748.5,18.42

TEMP 11.06 IMPLIED_C_VBD 3028,30.921898,300,3048.8

INTERNAL_PRESSURE 8.1304 GPS 250522,043801,4736.648,-12256.636,33,1.2,34,15.5

_24V_AH 14.99,8.025

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 702 1076 11337.16 nil 0 0 0.00

Pitch_motor 29 281 124.04 nil 0 0 0.00

Roll_motor 84 183 231.74 nil 0 0 0.00

Iridium 127 222 425.86 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.15 nil 0 0 0.00

Core 2471 5 189.82 SciCon 3954 6 410.54

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1760 0 8.45

Compass 1136 5 85.26

RAFOS 1346 40 808.00

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

6.65 16386 -146.63 -1.09 0.00 494.5 568.1 421.0 202.2 2105.1 0.00 0.00 0 102.31 91.32 0.00 0.00 0.005 0.000 0.000 2591.78 2569.88 2613.69 202.25 2104.81 0 0 0 15.92 30.00 30.00

102.61 18727 -146.63 -1.09 80.00 2591.0 2569.3 2612.6 202.2 2104.4 3.25 -2.40 18 158.80 32.10 10.41 3.62 0.005 0.282 0.102 3666.41 3658.56 3674.25 1486.12 3619.31 0 0 0 15.96 15.79 15.89

212.16 3205 -146.63 -0.89 0.00 3666.6 3660.0 3673.2 1486.1 3619.1 14.57 -11.67 37 219.03 0.00 0.34 3.39 0.000 0.179 0.047 3667.41 3660.94 3673.88 1536.38 2117.62 0 0 0 30.00 15.86 15.93

401.63 676 -146.63 -0.94 -80.00 3667.8 3663.1 3672.6 1536.4 2115.9 28.98 -7.09 74 408.25 0.00 0.00 3.48 0.000 0.000 0.110 3668.28 3663.75 3672.81 1536.44 682.00 0 0 0 30.00 30.00 15.92

421.77 1188 -146.63 -0.98 0.00 3668.3 3664.0 3672.6 1536.4 682.3 30.57 -7.33 78 428.38 0.00 0.00 3.40 0.000 0.000 0.047 3667.72 3663.31 3672.12 1536.50 2178.12 0 0 0 30.00 30.00 15.96

611.88 4517 -146.63 -1.04 80.00 3668.0 3664.2 3671.7 1535.9 2178.4 44.22 -7.48 116 618.76 0.00 0.34 3.44 0.000 0.081 0.105 3668.31 3664.69 3671.94 1483.88 3617.50 0 0 0 30.00 16.00 15.99

647.23 3205 -146.63 -0.91 0.00 3668.1 3664.2 3671.9 1484.0 3618.1 47.98 -10.59 123 654.11 0.00 0.38 3.36 0.000 0.177 0.045 3668.19 3664.62 3671.75 1530.38 2115.19 0 0 0 30.00 15.97 16.02

842.61 420 -146.63 -0.95 80.00 3668.6 3665.4 3671.9 1530.0 2115.0 64.08 -8.10 145 849.61 0.00 0.00 3.60 0.000 0.000 0.104 3668.16 3665.31 3671.00 1530.06 3619.25 0 0 0 30.00 30.00 16.04

878.05 1060 -146.63 -0.95 0.00 3668.6 3665.4 3671.8 1530.4 3618.8 67.35 -8.85 152 883.97 0.00 0.00 3.37 0.000 0.000 0.045 3668.56 3665.69 3671.44 1530.50 2115.75 0 0 0 30.00 30.00 16.07

1068.17 420 -146.63 -0.99 80.00 3668.7 3665.4 3672.0 1530.1 2114.9 82.93 -8.31 172 1075.14 0.00 0.00 3.59 0.000 0.000 0.102 3668.31 3664.94 3671.69 1530.56 3618.56 0 0 0 30.00 30.00 16.07

1103.58 1060 -146.63 -0.99 0.00 3668.8 3665.9 3671.7 1530.6 3618.3 86.29 -9.07 179 1109.50 0.00 0.00 3.37 0.000 0.000 0.046 3670.31 3667.00 3673.62 1530.25 2114.50 0 0 0 30.00 30.00 16.10

1293.72 4257 -146.63 -1.03 0.00 3668.7 3666.1 3671.3 1530.9 2114.6 101.55 -7.96 199 1295.53 0.00 0.25 0.00 0.000 0.091 0.000 3668.31 3665.62 3671.00 1488.38 2114.56 0 0 0 30.00 16.11 30.00

1476.67 2437 -146.63 -0.97 80.00 3668.8 3666.1 3671.5 1488.9 2114.9 119.72 -10.10 218 1483.92 0.00 0.25 3.56 0.000 0.169 0.105 3669.88 3667.12 3672.62 1518.06 3619.00 0 0 0 30.00 16.10 16.10

1536.67 1156 -146.63 -0.92 0.00 3669.3 3666.9 3671.8 1517.9 3618.7 126.09 -10.54 230 1544.03 0.00 0.00 3.36 0.000 0.000 0.048 3669.84 3667.69 3672.00 1516.56 2114.50 0 0 0 30.00 30.00 16.15

1732.40 292 -146.63 -0.92 80.00 3669.2 3666.6 3671.9 1518.0 2114.6 143.95 -9.28 250 1738.43 0.00 0.00 3.59 0.000 0.000 0.105 3670.12 3667.50 3672.75 1518.38 3619.44 0 0 0 30.00 30.00 16.12

1762.35 1028 -146.63 -0.92 0.00 3669.1 3666.4 3671.8 1517.6 3618.7 147.07 -10.02 256 1768.32 0.00 0.00 3.36 0.000 0.000 0.046 3668.97 3666.50 3671.44 1517.75 2115.75 0 0 0 30.00 30.00 16.15

1902 end dive: TARGET_DEPTH_EXCEEDED

state 1902 begin apogee

1903.70 10243 0.00 -0.27 0.00 3669.0 3666.6 3671.4 1517.6 2181.9 160.18 -9.25 271 2024.59 111.67 1.17 0.10 1.077 0.154 0.184 3069.72 3122.69 3016.75 1687.38 2110.94 0 0 0 11.83 16.10 15.76

2026 end apogee: CONTROL_FINISHED_OK

state 2026 begin climb

2025.67 10243 146.63 1.09 0.00 3068.6 3121.4 3015.8 1687.7 2111.3 163.80 0.00 282 2150.52 115.65 2.25 0.00 1.036 0.115 0.000 2473.06 2540.00 2406.12 2018.69 2111.75 0 0 0 11.70 15.75 30.00

2334.21 4485 146.63 0.97 80.00 2464.8 2526.8 2402.9 2018.6 2111.5 134.36 12.17 313 2341.58 0.00 0.34 3.70 0.000 0.172 0.108 2465.78 2527.50 2404.06 1977.81 3615.50 0 0 0 30.00 15.71 15.74

2384.32 1156 146.63 0.84 0.00 2463.2 2523.2 2403.2 1978.6 3615.4 128.24 12.05 323 2391.79 0.00 0.00 3.42 0.000 0.000 0.047 2463.56 2523.38 2403.75 1978.31 2119.19 0 0 0 30.00 30.00 15.81

2579.98 260 146.63 0.84 80.00 2463.1 2522.9 2403.3 1978.1 2119.5 109.02 9.76 343 2586.10 0.00 0.00 3.63 0.000 0.000 0.107 2465.56 2524.94 2406.19 1976.69 3616.56 0 0 0 30.00 30.00 15.89

2624.33 21639 146.63 0.74 0.00 2461.3 2519.8 2402.8 1978.1 3616.5 104.08 11.18 352 2631.95 0.00 0.37 3.38 0.000 0.176 0.046 2462.19 2520.75 2403.62 1923.69 2116.56 0 0 0 30.00 15.86 15.93

2816.19 10403 204.41 0.91 0.00 2461.6 2520.3 2402.8 1923.3 2116.1 89.71 7.10 372 2864.77 45.40 0.36 0.00 0.995 0.080 0.000 2234.81 2310.62 2159.00 1979.56 2116.31 0 0 0 11.96 15.95 30.00

3048.21 388 204.41 0.94 80.00 2231.4 2303.2 2159.7 1979.4 2115.9 67.20 9.88 395 3055.31 0.00 0.00 3.65 0.000 0.000 0.108 2233.88 2305.31 2162.44 1978.81 3616.62 0 0 0 30.00 30.00 15.92

3113.78 1156 204.41 0.90 0.00 2229.5 2299.4 2159.6 1979.8 3616.1 59.58 11.94 408 3119.69 0.00 0.00 3.37 0.000 0.000 0.047 2229.44 2299.19 2159.69 1977.56 2119.00 0 0 0 30.00 30.00 15.96

3301.84 8354 208.66 0.94 0.00 2229.7 2299.9 2159.5 1979.9 2119.8 40.76 9.51 437 3308.06 5.07 0.00 0.00 0.594 0.000 0.000 2219.28 2289.69 2148.88 1980.12 2119.81 0 0 0 11.77 30.00 30.00

3490.71 8614 220.51 1.01 80.00 2216.8 2287.2 2146.4 1979.5 2119.8 23.14 9.16 474 3509.17 11.45 0.00 3.63 0.847 0.000 0.110 2167.62 2241.38 2093.88 1979.94 3617.69 0 0 0 11.94 30.00 15.98

3602.55 1028 220.51 1.01 0.00 2166.9 2238.4 2095.3 1979.8 3618.5 12.01 9.91 496 3609.26 0.00 0.00 3.39 0.000 0.000 0.048 2166.72 2238.44 2095.00 1979.75 2118.62 0 0 0 30.00 30.00 16.03

3806.22 10663 350.83 1.40 80.00 2166.3 2238.1 2094.6 1979.2 2117.2 2.28 3.84 533 3913.10 94.82 0.69 3.68 0.920 0.079 0.106 1637.31 1742.75 1531.88 2096.25 3616.56 0 0 0 11.90 16.04 15.76

3947 end climb: NO_VERTICAL_VELOCITY

state 3947 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	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	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	3069.7612	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	1751.5302	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	18.720917	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.581018	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	28.06756	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	250522,032210,4736.997,-12256.464,4,1.1,12,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,032524,4737.032,-12256.393,3,1.1,5,15.5	MHEAD_RNG_PITCHd_Wd	192.5,2057,-17.1,-9.697,-20.82,2278,0.128
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.015611,0.041123,0.003288,1.054914,-0.062798,0.019092,-0.032835,0.971622,424.436157,-1305.731079,-157.121933
TGT_LATLONG	4736.000,-12257.000

NAV	1653453424,-0.0,0,stop	_10V_AH	15.00,0.000
NET	xm1t part outbox0001.n 925 9	FG_AHR_24Vo	28.236
NET_PING	1653451930,28,707.109009,13.300000,0.060384	FG_AHR_10Vo	19.614
MODEM_MSG	CACST,8,1,20220525040429.541210,18,32767,45,0107,0000,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-39.8,0.53,-100,2.47,-01,0.03,67,925,0025,0,-1,00,00*25	MEM0	60132,1,0,0
FREEZE	2.39,13.493,-1.450,0,1,0	MEM1	65508,1,0,0
SM_CCo	4152.32,194.82,0.883,0,500.8,575.2,426.3,629.99	MEM2	944592,31,102116,62
SM_GC	1.02,0.00,12.20,3.48,0.000,0.083,0.048,497.4,575.2,419.6,203.6,2122.6,0,0,0,30.00,15.58,15.59	DATA_FILE_SIZE	16095,560
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	400884,0
IRIDIUM_FIX	4738.33,-12256.21,250522,020313	SDSIZE	3887104,3870560
TCM_TEMP	13.14	SDFILEDIR	69,1
SC_FREEKB	3878144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1653451319,47.61230,-122.96660,119.662,175305.2	CURRENT	0.019, 76.6,1
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	MAGCAL	1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.3,-1341.5,-215.5,20,0.0286,1
HUMID	49.24	IMPLIED_C_PITCH	1745,18.11,300,1748.5,18.42
TEMP	11.06	IMPLIED_C_VBD	3028,30.921898,300,3048.8
INTERNAL_PRESSURE	8.1304	GPS	250522,043801,4736.648,-12256.636,33,1.2,34,15.5
_24V_AH	14.99,8.025

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	702	1076	11337.16	nil	0	0	0.00
Pitch_motor	29	281	124.04	nil	0	0	0.00
Roll_motor	84	183	231.74	nil	0	0	0.00
Iridium	127	222	425.86	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.15	nil	0	0	0.00
Core	2471	5	189.82	SciCon	3954	6	410.54
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1760	0	8.45
Compass	1136	5	85.26
RAFOS	1346	40	808.00
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
6.65	16386	-146.63	-1.09	0.00	494.5	568.1	421.0	202.2	2105.1	0.00	0.00	0	102.31	91.32	0.00	0.00	0.005	0.000	0.000	2591.78	2569.88	2613.69	202.25	2104.81	0	0	0	15.92	30.00	30.00
102.61	18727	-146.63	-1.09	80.00	2591.0	2569.3	2612.6	202.2	2104.4	3.25	-2.40	18	158.80	32.10	10.41	3.62	0.005	0.282	0.102	3666.41	3658.56	3674.25	1486.12	3619.31	0	0	0	15.96	15.79	15.89
212.16	3205	-146.63	-0.89	0.00	3666.6	3660.0	3673.2	1486.1	3619.1	14.57	-11.67	37	219.03	0.00	0.34	3.39	0.000	0.179	0.047	3667.41	3660.94	3673.88	1536.38	2117.62	0	0	0	30.00	15.86	15.93
401.63	676	-146.63	-0.94	-80.00	3667.8	3663.1	3672.6	1536.4	2115.9	28.98	-7.09	74	408.25	0.00	0.00	3.48	0.000	0.000	0.110	3668.28	3663.75	3672.81	1536.44	682.00	0	0	0	30.00	30.00	15.92
421.77	1188	-146.63	-0.98	0.00	3668.3	3664.0	3672.6	1536.4	682.3	30.57	-7.33	78	428.38	0.00	0.00	3.40	0.000	0.000	0.047	3667.72	3663.31	3672.12	1536.50	2178.12	0	0	0	30.00	30.00	15.96
611.88	4517	-146.63	-1.04	80.00	3668.0	3664.2	3671.7	1535.9	2178.4	44.22	-7.48	116	618.76	0.00	0.34	3.44	0.000	0.081	0.105	3668.31	3664.69	3671.94	1483.88	3617.50	0	0	0	30.00	16.00	15.99
647.23	3205	-146.63	-0.91	0.00	3668.1	3664.2	3671.9	1484.0	3618.1	47.98	-10.59	123	654.11	0.00	0.38	3.36	0.000	0.177	0.045	3668.19	3664.62	3671.75	1530.38	2115.19	0	0	0	30.00	15.97	16.02
842.61	420	-146.63	-0.95	80.00	3668.6	3665.4	3671.9	1530.0	2115.0	64.08	-8.10	145	849.61	0.00	0.00	3.60	0.000	0.000	0.104	3668.16	3665.31	3671.00	1530.06	3619.25	0	0	0	30.00	30.00	16.04
878.05	1060	-146.63	-0.95	0.00	3668.6	3665.4	3671.8	1530.4	3618.8	67.35	-8.85	152	883.97	0.00	0.00	3.37	0.000	0.000	0.045	3668.56	3665.69	3671.44	1530.50	2115.75	0	0	0	30.00	30.00	16.07
1068.17	420	-146.63	-0.99	80.00	3668.7	3665.4	3672.0	1530.1	2114.9	82.93	-8.31	172	1075.14	0.00	0.00	3.59	0.000	0.000	0.102	3668.31	3664.94	3671.69	1530.56	3618.56	0	0	0	30.00	30.00	16.07
1103.58	1060	-146.63	-0.99	0.00	3668.8	3665.9	3671.7	1530.6	3618.3	86.29	-9.07	179	1109.50	0.00	0.00	3.37	0.000	0.000	0.046	3670.31	3667.00	3673.62	1530.25	2114.50	0	0	0	30.00	30.00	16.10
1293.72	4257	-146.63	-1.03	0.00	3668.7	3666.1	3671.3	1530.9	2114.6	101.55	-7.96	199	1295.53	0.00	0.25	0.00	0.000	0.091	0.000	3668.31	3665.62	3671.00	1488.38	2114.56	0	0	0	30.00	16.11	30.00
1476.67	2437	-146.63	-0.97	80.00	3668.8	3666.1	3671.5	1488.9	2114.9	119.72	-10.10	218	1483.92	0.00	0.25	3.56	0.000	0.169	0.105	3669.88	3667.12	3672.62	1518.06	3619.00	0	0	0	30.00	16.10	16.10
1536.67	1156	-146.63	-0.92	0.00	3669.3	3666.9	3671.8	1517.9	3618.7	126.09	-10.54	230	1544.03	0.00	0.00	3.36	0.000	0.000	0.048	3669.84	3667.69	3672.00	1516.56	2114.50	0	0	0	30.00	30.00	16.15
1732.40	292	-146.63	-0.92	80.00	3669.2	3666.6	3671.9	1518.0	2114.6	143.95	-9.28	250	1738.43	0.00	0.00	3.59	0.000	0.000	0.105	3670.12	3667.50	3672.75	1518.38	3619.44	0	0	0	30.00	30.00	16.12
1762.35	1028	-146.63	-0.92	0.00	3669.1	3666.4	3671.8	1517.6	3618.7	147.07	-10.02	256	1768.32	0.00	0.00	3.36	0.000	0.000	0.046	3668.97	3666.50	3671.44	1517.75	2115.75	0	0	0	30.00	30.00	16.15
1902	end dive: TARGET_DEPTH_EXCEEDED
state	1902	begin apogee
1903.70	10243	0.00	-0.27	0.00	3669.0	3666.6	3671.4	1517.6	2181.9	160.18	-9.25	271	2024.59	111.67	1.17	0.10	1.077	0.154	0.184	3069.72	3122.69	3016.75	1687.38	2110.94	0	0	0	11.83	16.10	15.76
2026	end apogee: CONTROL_FINISHED_OK
state	2026	begin climb
2025.67	10243	146.63	1.09	0.00	3068.6	3121.4	3015.8	1687.7	2111.3	163.80	0.00	282	2150.52	115.65	2.25	0.00	1.036	0.115	0.000	2473.06	2540.00	2406.12	2018.69	2111.75	0	0	0	11.70	15.75	30.00
2334.21	4485	146.63	0.97	80.00	2464.8	2526.8	2402.9	2018.6	2111.5	134.36	12.17	313	2341.58	0.00	0.34	3.70	0.000	0.172	0.108	2465.78	2527.50	2404.06	1977.81	3615.50	0	0	0	30.00	15.71	15.74
2384.32	1156	146.63	0.84	0.00	2463.2	2523.2	2403.2	1978.6	3615.4	128.24	12.05	323	2391.79	0.00	0.00	3.42	0.000	0.000	0.047	2463.56	2523.38	2403.75	1978.31	2119.19	0	0	0	30.00	30.00	15.81
2579.98	260	146.63	0.84	80.00	2463.1	2522.9	2403.3	1978.1	2119.5	109.02	9.76	343	2586.10	0.00	0.00	3.63	0.000	0.000	0.107	2465.56	2524.94	2406.19	1976.69	3616.56	0	0	0	30.00	30.00	15.89
2624.33	21639	146.63	0.74	0.00	2461.3	2519.8	2402.8	1978.1	3616.5	104.08	11.18	352	2631.95	0.00	0.37	3.38	0.000	0.176	0.046	2462.19	2520.75	2403.62	1923.69	2116.56	0	0	0	30.00	15.86	15.93
2816.19	10403	204.41	0.91	0.00	2461.6	2520.3	2402.8	1923.3	2116.1	89.71	7.10	372	2864.77	45.40	0.36	0.00	0.995	0.080	0.000	2234.81	2310.62	2159.00	1979.56	2116.31	0	0	0	11.96	15.95	30.00
3048.21	388	204.41	0.94	80.00	2231.4	2303.2	2159.7	1979.4	2115.9	67.20	9.88	395	3055.31	0.00	0.00	3.65	0.000	0.000	0.108	2233.88	2305.31	2162.44	1978.81	3616.62	0	0	0	30.00	30.00	15.92
3113.78	1156	204.41	0.90	0.00	2229.5	2299.4	2159.6	1979.8	3616.1	59.58	11.94	408	3119.69	0.00	0.00	3.37	0.000	0.000	0.047	2229.44	2299.19	2159.69	1977.56	2119.00	0	0	0	30.00	30.00	15.96
3301.84	8354	208.66	0.94	0.00	2229.7	2299.9	2159.5	1979.9	2119.8	40.76	9.51	437	3308.06	5.07	0.00	0.00	0.594	0.000	0.000	2219.28	2289.69	2148.88	1980.12	2119.81	0	0	0	11.77	30.00	30.00
3490.71	8614	220.51	1.01	80.00	2216.8	2287.2	2146.4	1979.5	2119.8	23.14	9.16	474	3509.17	11.45	0.00	3.63	0.847	0.000	0.110	2167.62	2241.38	2093.88	1979.94	3617.69	0	0	0	11.94	30.00	15.98
3602.55	1028	220.51	1.01	0.00	2166.9	2238.4	2095.3	1979.8	3618.5	12.01	9.91	496	3609.26	0.00	0.00	3.39	0.000	0.000	0.048	2166.72	2238.44	2095.00	1979.75	2118.62	0	0	0	30.00	30.00	16.03
3806.22	10663	350.83	1.40	80.00	2166.3	2238.1	2094.6	1979.2	2117.2	2.28	3.84	533	3913.10	94.82	0.69	3.68	0.920	0.079	0.106	1637.31	1742.75	1531.88	2096.25	3616.56	0	0	0	11.90	16.04	15.76
3947	end climb: NO_VERTICAL_VELOCITY
state	3947	begin surface