Glider dive log

HoodCanal 24May22 * SG241 * Dive index * Mission links * Dive 3 * 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 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 3 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 7 C_VBD 3046.3682 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 1744.0612 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 18.650757 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.393293 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 27.101852 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 3 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 19.393293 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.101852 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 18.650757 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 1744.0612 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 3046.3682 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 3 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 240522,185223,4736.335,-12256.559,1,1.8,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,185511,4736.347,-12256.532,2,1.8,5,15.5 MHEAD_RNG_PITCHd_Wd 211.8,868,-17.1,-9.697,-20.82,2278,0.125

SPEED_LIMITS 0.168,0.255 D_GRID 169

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 1653422344,10.1,start _24V_AH 14.82,6.953

NET CACST,8,0,20220524195215.207885,06,32767,45,0101,0150,07,00,00,00,00,1,045,121,0,5,7,0,150,13.1,10.59,-100,-7.59,-01,-0.26,63,10000,5000,0,5,01,00*69 _10V_AH 14.82,0.000

NET_PING 1653421331,28,1531.844971,12.700000,-2.035961 FG_AHR_24Vo 27.264

MODEM_MSG CACST,8,1,20220524193403.321653,18,7576,32,0133,0000,246,01,01,01,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*17 FG_AHR_10Vo 19.425

FINISH 1.8,1.019146 MEM0 60132,1,0,0

SM_CCo 4206.68,204.10,0.890,0,587.8,654.9,520.6,603.01 MEM1 65508,1,0,0

SM_GC 1.35,204.10,12.01,0.09,0.890,0.090,0.136,587.8,654.9,520.6,197.9,2112.8,0,0,0,11.76,15.84,15.86 MEM2 944408,37,102120,65

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16135,562

IRIDIUM_FIX 4736.00,-12258.89,240522,185055 CAP_FILE_SIZE 404324,0

TCM_TEMP 12.97 SDSIZE 3887104,3872480

SC_FREEKB 3877824 SDFILEDIR 68,1

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 2,1653420603,47.61230,-122.96660,3.419,5008.1 SOUNDSPEED 1465.0

RAFOS_FIX 4734.808594,-12257.996094,240522,181803,2,510,3291.15 CURRENT 0.018,112.7,1

HUMID 49.54 IMPLIED_C_PITCH 1751,19.08,314,1747.7,18.87

TEMP 10.48 IMPLIED_C_VBD 3047,37.145966,314,3046.8

INTERNAL_PRESSURE 8.10926 GPS 240522,200631,4736.009,-12256.942,22,1.0,23,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 676 1074 10780.10 nil 0 0 0.00

Pitch_motor 29 293 129.09 nil 0 0 0.00

Roll_motor 76 172 196.70 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.24 nil 0 0 0.00

Core 2283 5 173.30 SciCon 3971 6 405.07

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1743 0 8.27

Compass 1131 5 83.85

RAFOS 878 40 521.05

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

6.62 16386 -146.63 -1.10 0.00 578.8 645.1 512.5 198.9 2186.7 0.00 0.00 0 97.13 86.36 0.00 0.00 0.005 0.000 0.000 2588.56 2553.31 2623.81 198.69 2187.38 0 0 0 15.98 30.00 30.00

97.52 18727 -146.63 -1.10 80.00 2587.3 2552.6 2622.0 198.6 2186.8 3.37 -2.53 17 154.91 31.44 10.39 3.42 0.006 0.294 0.107 3644.72 3636.12 3653.31 1477.31 3617.75 0 0 0 16.01 15.82 15.94

178.38 3205 -146.63 -0.76 0.00 3644.2 3637.0 3651.5 1477.1 3617.2 11.65 -12.69 32 185.36 0.00 0.57 3.38 0.000 0.186 0.048 3644.91 3638.56 3651.25 1560.50 2115.19 0 0 0 30.00 15.91 15.98

370.18 32 -146.63 -0.76 0.00 3645.9 3641.6 3650.2 1560.1 2114.6 25.99 -6.34 67 374.71 0.00 0.00 0.00 0.000 0.000 0.000 3645.94 3641.44 3650.44 1560.06 2114.81 0 0 0 30.00 30.00 30.00

559.75 420 -146.63 -0.80 80.00 3645.9 3642.1 3649.7 1559.8 2113.7 38.38 -6.63 104 566.48 0.00 0.00 3.63 0.000 0.000 0.105 3645.50 3641.94 3649.06 1560.31 3619.25 0 0 0 30.00 30.00 15.98

649.94 1060 -146.63 -0.80 0.00 3645.5 3642.0 3649.0 1560.2 3618.6 45.50 -7.87 122 656.62 0.00 0.00 3.38 0.000 0.000 0.047 3647.22 3643.19 3651.25 1559.88 2115.50 0 0 0 30.00 30.00 16.02

840.13 4773 -146.63 -0.86 -80.00 3646.4 3643.4 3649.4 1560.1 2114.3 57.88 -6.43 148 847.29 0.00 0.25 3.45 0.000 0.088 0.108 3647.84 3644.44 3651.25 1520.94 680.62 0 0 0 30.00 16.05 16.04

905.84 3237 -146.63 -0.75 0.00 3646.3 3643.6 3649.0 1520.8 680.9 63.98 -9.62 161 913.00 0.00 0.35 3.36 0.000 0.174 0.048 3645.84 3642.56 3649.12 1562.06 2177.38 0 0 0 30.00 16.03 16.09

1100.83 420 -146.63 -0.82 80.00 3647.1 3644.4 3649.8 1562.2 2177.5 77.57 -6.98 181 1106.74 0.00 0.00 3.44 0.000 0.000 0.108 3647.69 3645.25 3650.12 1563.19 3618.62 0 0 0 30.00 30.00 16.07

1140.96 5285 -146.63 -0.86 0.00 3647.1 3645.1 3649.1 1562.2 3618.8 80.76 -7.68 189 1147.95 0.00 0.23 3.37 0.000 0.091 0.047 3648.28 3645.94 3650.62 1522.44 2114.12 0 0 0 30.00 16.09 16.10

1335.81 32 -146.63 -0.86 0.00 3647.1 3645.2 3649.1 1522.6 2114.9 97.97 -9.11 209 1337.37 0.00 0.00 0.00 0.000 0.000 0.000 3646.56 3644.62 3648.50 1522.94 2114.88 0 0 0 30.00 30.00 30.00

1519.82 292 -146.63 -0.86 80.00 3647.2 3644.4 3649.9 1522.9 2114.2 114.50 -9.10 228 1525.84 0.00 0.00 3.59 0.000 0.000 0.107 3647.66 3645.56 3649.75 1522.75 3616.69 0 0 0 30.00 30.00 16.12

1569.86 3205 -146.63 -0.79 0.00 3647.1 3645.1 3649.1 1522.6 3617.8 119.60 -10.34 238 1577.01 0.00 0.25 3.34 0.000 0.175 0.049 3648.56 3646.00 3651.12 1552.62 2114.62 0 0 0 30.00 16.09 16.15

1764.94 160 -146.63 -0.88 0.00 3647.1 3645.1 3649.1 1552.2 2114.1 134.30 -7.26 258 1766.51 0.00 0.00 0.00 0.000 0.000 0.000 3646.81 3645.06 3648.56 1552.06 2114.06 0 0 0 30.00 30.00 30.00

1954.96 4257 -146.63 -0.96 0.00 3647.1 3645.2 3649.0 1551.9 2114.7 148.12 -7.41 277 1956.83 0.00 0.34 0.00 0.000 0.084 0.000 3647.22 3644.94 3649.50 1496.56 2114.56 0 0 0 30.00 16.14 30.00

2078 end dive: TARGET_DEPTH_EXCEEDED

state 2078 begin apogee

2079.42 10243 0.00 -0.27 0.00 3646.7 3644.9 3648.4 1497.0 2183.8 160.52 -10.54 289 2201.18 111.91 1.34 0.11 1.075 0.159 0.173 3045.84 3098.88 2992.81 1679.81 2108.38 0 0 0 11.78 16.11 15.74

2202 end apogee: CONTROL_FINISHED_OK

state 2202 begin climb

2202.27 10243 146.63 1.10 0.00 3044.4 3097.6 2991.2 1679.9 2107.9 164.53 0.00 300 2327.13 115.56 2.27 0.00 1.027 0.121 0.000 2445.56 2512.00 2379.12 2010.69 2107.44 0 0 0 11.76 15.72 30.00

2510.58 4485 146.63 0.98 80.00 2441.8 2502.6 2380.9 2010.2 2107.9 136.29 11.72 331 2517.98 0.00 0.31 3.70 0.000 0.176 0.109 2442.38 2503.38 2381.38 1975.62 3616.19 0 0 0 30.00 15.75 15.78

2576.45 17542 146.63 0.86 0.00 2439.8 2498.7 2380.8 1975.8 3616.5 128.31 12.06 344 2582.35 0.00 0.00 3.40 0.000 0.000 0.048 2440.78 2499.62 2381.94 1975.81 2119.56 0 0 0 30.00 30.00 15.85

2770.43 8486 150.92 0.87 80.00 2439.8 2498.6 2380.9 1976.4 2118.4 109.40 9.50 365 2787.91 4.64 0.00 3.66 0.549 0.000 0.111 2430.06 2489.44 2370.69 1975.88 3616.06 0 0 0 11.80 30.00 15.91

2856.38 5253 150.92 0.76 0.00 2428.8 2488.0 2369.5 1974.4 3616.4 99.87 11.34 381 2863.60 0.00 0.35 3.38 0.000 0.183 0.047 2427.75 2487.62 2367.88 1922.69 2115.44 0 0 0 30.00 15.91 15.95

3051.45 10663 208.99 0.94 80.00 2428.8 2488.1 2369.5 1922.2 2115.9 85.39 7.09 401 3106.90 46.63 0.36 3.68 0.985 0.079 0.110 2192.53 2269.12 2115.94 1979.62 3617.00 0 0 0 11.83 16.00 15.85

3170.38 1156 208.99 0.89 0.00 2189.4 2263.1 2115.8 1979.6 3617.4 72.79 12.05 424 3176.33 0.00 0.00 3.39 0.000 0.000 0.049 2189.12 2262.62 2115.62 1979.44 2118.31 0 0 0 30.00 30.00 15.91

3360.39 388 208.99 0.93 80.00 2188.5 2260.8 2116.2 1979.4 2118.5 52.93 10.38 444 3367.51 0.00 0.00 3.64 0.000 0.000 0.110 2186.88 2259.31 2114.44 1979.38 3615.62 0 0 0 30.00 30.00 15.95

3418.71 1156 208.99 0.89 0.00 2186.8 2258.2 2115.4 1979.4 3616.5 46.11 12.06 455 3425.36 0.00 0.00 3.37 0.000 0.000 0.048 2186.97 2258.19 2115.75 1979.62 2118.31 0 0 0 30.00 30.00 16.00

3608.86 8614 217.57 0.95 80.00 2186.9 2258.1 2115.7 1979.2 2118.2 27.21 9.31 493 3626.05 7.94 0.00 3.63 0.774 0.000 0.112 2158.91 2231.62 2086.19 1979.25 3617.62 0 0 0 11.81 30.00 15.99

3669.43 1028 217.57 0.95 0.00 2156.6 2228.3 2084.8 1978.9 3617.4 21.05 10.62 505 3676.13 0.00 0.00 3.38 0.000 0.000 0.048 2157.12 2229.12 2085.12 1980.00 2117.44 0 0 0 30.00 30.00 16.02

3859.24 10919 294.48 1.17 -80.00 2156.2 2228.2 2084.3 1979.4 2116.9 6.87 6.24 541 3929.07 57.70 0.30 3.48 0.926 0.086 0.111 1843.75 1941.19 1746.31 2035.31 681.12 0 0 0 11.71 16.02 15.84

3947.59 11431 401.22 1.44 0.00 1842.6 1938.5 1746.8 2035.6 681.1 2.28 4.90 558 3965.27 10.62 0.35 3.41 0.786 0.094 0.048 1798.12 1896.00 1700.25 2096.50 2176.62 0 0 0 11.71 15.86 15.90

3966 end climb: SURFACE_DEPTH_REACHED

state 3966 begin surface coast

3969 end surface coast: CONTROL_FINISHED_OK

state 3969 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	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	3	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	7	C_VBD	3046.3682	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	1744.0612	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	18.650757	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.393293	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	27.101852	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	240522,185223,4736.335,-12256.559,1,1.8,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,185511,4736.347,-12256.532,2,1.8,5,15.5	MHEAD_RNG_PITCHd_Wd	211.8,868,-17.1,-9.697,-20.82,2278,0.125
SPEED_LIMITS	0.168,0.255	D_GRID	169
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	1653422344,10.1,start	_24V_AH	14.82,6.953
NET	CACST,8,0,20220524195215.207885,06,32767,45,0101,0150,07,00,00,00,00,1,045,121,0,5,7,0,150,13.1,10.59,-100,-7.59,-01,-0.26,63,10000,5000,0,5,01,00*69	_10V_AH	14.82,0.000
NET_PING	1653421331,28,1531.844971,12.700000,-2.035961	FG_AHR_24Vo	27.264
MODEM_MSG	CACST,8,1,20220524193403.321653,18,7576,32,0133,0000,246,01,01,01,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*17	FG_AHR_10Vo	19.425
FINISH	1.8,1.019146	MEM0	60132,1,0,0
SM_CCo	4206.68,204.10,0.890,0,587.8,654.9,520.6,603.01	MEM1	65508,1,0,0
SM_GC	1.35,204.10,12.01,0.09,0.890,0.090,0.136,587.8,654.9,520.6,197.9,2112.8,0,0,0,11.76,15.84,15.86	MEM2	944408,37,102120,65
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16135,562
IRIDIUM_FIX	4736.00,-12258.89,240522,185055	CAP_FILE_SIZE	404324,0
TCM_TEMP	12.97	SDSIZE	3887104,3872480
SC_FREEKB	3877824	SDFILEDIR	68,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	2,1653420603,47.61230,-122.96660,3.419,5008.1	SOUNDSPEED	1465.0
RAFOS_FIX	4734.808594,-12257.996094,240522,181803,2,510,3291.15	CURRENT	0.018,112.7,1
HUMID	49.54	IMPLIED_C_PITCH	1751,19.08,314,1747.7,18.87
TEMP	10.48	IMPLIED_C_VBD	3047,37.145966,314,3046.8
INTERNAL_PRESSURE	8.10926	GPS	240522,200631,4736.009,-12256.942,22,1.0,23,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	676	1074	10780.10	nil	0	0	0.00
Pitch_motor	29	293	129.09	nil	0	0	0.00
Roll_motor	76	172	196.70	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.24	nil	0	0	0.00
Core	2283	5	173.30	SciCon	3971	6	405.07
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1743	0	8.27
Compass	1131	5	83.85
RAFOS	878	40	521.05
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
6.62	16386	-146.63	-1.10	0.00	578.8	645.1	512.5	198.9	2186.7	0.00	0.00	0	97.13	86.36	0.00	0.00	0.005	0.000	0.000	2588.56	2553.31	2623.81	198.69	2187.38	0	0	0	15.98	30.00	30.00
97.52	18727	-146.63	-1.10	80.00	2587.3	2552.6	2622.0	198.6	2186.8	3.37	-2.53	17	154.91	31.44	10.39	3.42	0.006	0.294	0.107	3644.72	3636.12	3653.31	1477.31	3617.75	0	0	0	16.01	15.82	15.94
178.38	3205	-146.63	-0.76	0.00	3644.2	3637.0	3651.5	1477.1	3617.2	11.65	-12.69	32	185.36	0.00	0.57	3.38	0.000	0.186	0.048	3644.91	3638.56	3651.25	1560.50	2115.19	0	0	0	30.00	15.91	15.98
370.18	32	-146.63	-0.76	0.00	3645.9	3641.6	3650.2	1560.1	2114.6	25.99	-6.34	67	374.71	0.00	0.00	0.00	0.000	0.000	0.000	3645.94	3641.44	3650.44	1560.06	2114.81	0	0	0	30.00	30.00	30.00
559.75	420	-146.63	-0.80	80.00	3645.9	3642.1	3649.7	1559.8	2113.7	38.38	-6.63	104	566.48	0.00	0.00	3.63	0.000	0.000	0.105	3645.50	3641.94	3649.06	1560.31	3619.25	0	0	0	30.00	30.00	15.98
649.94	1060	-146.63	-0.80	0.00	3645.5	3642.0	3649.0	1560.2	3618.6	45.50	-7.87	122	656.62	0.00	0.00	3.38	0.000	0.000	0.047	3647.22	3643.19	3651.25	1559.88	2115.50	0	0	0	30.00	30.00	16.02
840.13	4773	-146.63	-0.86	-80.00	3646.4	3643.4	3649.4	1560.1	2114.3	57.88	-6.43	148	847.29	0.00	0.25	3.45	0.000	0.088	0.108	3647.84	3644.44	3651.25	1520.94	680.62	0	0	0	30.00	16.05	16.04
905.84	3237	-146.63	-0.75	0.00	3646.3	3643.6	3649.0	1520.8	680.9	63.98	-9.62	161	913.00	0.00	0.35	3.36	0.000	0.174	0.048	3645.84	3642.56	3649.12	1562.06	2177.38	0	0	0	30.00	16.03	16.09
1100.83	420	-146.63	-0.82	80.00	3647.1	3644.4	3649.8	1562.2	2177.5	77.57	-6.98	181	1106.74	0.00	0.00	3.44	0.000	0.000	0.108	3647.69	3645.25	3650.12	1563.19	3618.62	0	0	0	30.00	30.00	16.07
1140.96	5285	-146.63	-0.86	0.00	3647.1	3645.1	3649.1	1562.2	3618.8	80.76	-7.68	189	1147.95	0.00	0.23	3.37	0.000	0.091	0.047	3648.28	3645.94	3650.62	1522.44	2114.12	0	0	0	30.00	16.09	16.10
1335.81	32	-146.63	-0.86	0.00	3647.1	3645.2	3649.1	1522.6	2114.9	97.97	-9.11	209	1337.37	0.00	0.00	0.00	0.000	0.000	0.000	3646.56	3644.62	3648.50	1522.94	2114.88	0	0	0	30.00	30.00	30.00
1519.82	292	-146.63	-0.86	80.00	3647.2	3644.4	3649.9	1522.9	2114.2	114.50	-9.10	228	1525.84	0.00	0.00	3.59	0.000	0.000	0.107	3647.66	3645.56	3649.75	1522.75	3616.69	0	0	0	30.00	30.00	16.12
1569.86	3205	-146.63	-0.79	0.00	3647.1	3645.1	3649.1	1522.6	3617.8	119.60	-10.34	238	1577.01	0.00	0.25	3.34	0.000	0.175	0.049	3648.56	3646.00	3651.12	1552.62	2114.62	0	0	0	30.00	16.09	16.15
1764.94	160	-146.63	-0.88	0.00	3647.1	3645.1	3649.1	1552.2	2114.1	134.30	-7.26	258	1766.51	0.00	0.00	0.00	0.000	0.000	0.000	3646.81	3645.06	3648.56	1552.06	2114.06	0	0	0	30.00	30.00	30.00
1954.96	4257	-146.63	-0.96	0.00	3647.1	3645.2	3649.0	1551.9	2114.7	148.12	-7.41	277	1956.83	0.00	0.34	0.00	0.000	0.084	0.000	3647.22	3644.94	3649.50	1496.56	2114.56	0	0	0	30.00	16.14	30.00
2078	end dive: TARGET_DEPTH_EXCEEDED
state	2078	begin apogee
2079.42	10243	0.00	-0.27	0.00	3646.7	3644.9	3648.4	1497.0	2183.8	160.52	-10.54	289	2201.18	111.91	1.34	0.11	1.075	0.159	0.173	3045.84	3098.88	2992.81	1679.81	2108.38	0	0	0	11.78	16.11	15.74
2202	end apogee: CONTROL_FINISHED_OK
state	2202	begin climb
2202.27	10243	146.63	1.10	0.00	3044.4	3097.6	2991.2	1679.9	2107.9	164.53	0.00	300	2327.13	115.56	2.27	0.00	1.027	0.121	0.000	2445.56	2512.00	2379.12	2010.69	2107.44	0	0	0	11.76	15.72	30.00
2510.58	4485	146.63	0.98	80.00	2441.8	2502.6	2380.9	2010.2	2107.9	136.29	11.72	331	2517.98	0.00	0.31	3.70	0.000	0.176	0.109	2442.38	2503.38	2381.38	1975.62	3616.19	0	0	0	30.00	15.75	15.78
2576.45	17542	146.63	0.86	0.00	2439.8	2498.7	2380.8	1975.8	3616.5	128.31	12.06	344	2582.35	0.00	0.00	3.40	0.000	0.000	0.048	2440.78	2499.62	2381.94	1975.81	2119.56	0	0	0	30.00	30.00	15.85
2770.43	8486	150.92	0.87	80.00	2439.8	2498.6	2380.9	1976.4	2118.4	109.40	9.50	365	2787.91	4.64	0.00	3.66	0.549	0.000	0.111	2430.06	2489.44	2370.69	1975.88	3616.06	0	0	0	11.80	30.00	15.91
2856.38	5253	150.92	0.76	0.00	2428.8	2488.0	2369.5	1974.4	3616.4	99.87	11.34	381	2863.60	0.00	0.35	3.38	0.000	0.183	0.047	2427.75	2487.62	2367.88	1922.69	2115.44	0	0	0	30.00	15.91	15.95
3051.45	10663	208.99	0.94	80.00	2428.8	2488.1	2369.5	1922.2	2115.9	85.39	7.09	401	3106.90	46.63	0.36	3.68	0.985	0.079	0.110	2192.53	2269.12	2115.94	1979.62	3617.00	0	0	0	11.83	16.00	15.85
3170.38	1156	208.99	0.89	0.00	2189.4	2263.1	2115.8	1979.6	3617.4	72.79	12.05	424	3176.33	0.00	0.00	3.39	0.000	0.000	0.049	2189.12	2262.62	2115.62	1979.44	2118.31	0	0	0	30.00	30.00	15.91
3360.39	388	208.99	0.93	80.00	2188.5	2260.8	2116.2	1979.4	2118.5	52.93	10.38	444	3367.51	0.00	0.00	3.64	0.000	0.000	0.110	2186.88	2259.31	2114.44	1979.38	3615.62	0	0	0	30.00	30.00	15.95
3418.71	1156	208.99	0.89	0.00	2186.8	2258.2	2115.4	1979.4	3616.5	46.11	12.06	455	3425.36	0.00	0.00	3.37	0.000	0.000	0.048	2186.97	2258.19	2115.75	1979.62	2118.31	0	0	0	30.00	30.00	16.00
3608.86	8614	217.57	0.95	80.00	2186.9	2258.1	2115.7	1979.2	2118.2	27.21	9.31	493	3626.05	7.94	0.00	3.63	0.774	0.000	0.112	2158.91	2231.62	2086.19	1979.25	3617.62	0	0	0	11.81	30.00	15.99
3669.43	1028	217.57	0.95	0.00	2156.6	2228.3	2084.8	1978.9	3617.4	21.05	10.62	505	3676.13	0.00	0.00	3.38	0.000	0.000	0.048	2157.12	2229.12	2085.12	1980.00	2117.44	0	0	0	30.00	30.00	16.02
3859.24	10919	294.48	1.17	-80.00	2156.2	2228.2	2084.3	1979.4	2116.9	6.87	6.24	541	3929.07	57.70	0.30	3.48	0.926	0.086	0.111	1843.75	1941.19	1746.31	2035.31	681.12	0	0	0	11.71	16.02	15.84
3947.59	11431	401.22	1.44	0.00	1842.6	1938.5	1746.8	2035.6	681.1	2.28	4.90	558	3965.27	10.62	0.35	3.41	0.786	0.094	0.048	1798.12	1896.00	1700.25	2096.50	2176.62	0	0	0	11.71	15.86	15.90
3966	end climb: SURFACE_DEPTH_REACHED
state	3966	begin surface coast
3969	end surface coast: CONTROL_FINISHED_OK
state	3969	begin surface