Glider dive log

HoodCanal 24May22 * SG241 * Dive index * Mission links * Dive 4 * 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 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 4 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 3046.7905 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 1747.6526 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 18.867619 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.428251 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 27.271379 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 4 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 19.428251 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.271379 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 18.867619 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 1747.6526 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 3046.7905 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 4 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 240522,200631,4736.009,-12256.942,22,1.0,23,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,200946,4736.023,-12256.909,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 359.8,1917,-17.1,-9.697,-20.82,2278,0.124

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653426434,27.3,2,stop _10V_AH 14.90,0.000

NET CACST,8,0,20220524210215.355276,06,32767,45,0103,0150,07,00,00,00,00,1,045,121,0,5,7,0,150,8.9,7.55,-100,-4.55,-01,-1.15,76,10000,5000,0,5,01,00*67 FG_AHR_24Vo 27.432

NET_PING 1653425531,28,1373.784058,15.100000,-1.824262 FG_AHR_10Vo 19.457

MODEM_MSG CACST,8,1,20220524210501.524890,18,2425,27,0143,0000,246,03,03,01,03,-1,-01,-01,1,3,0,0,150,-41.7,0.50,-100,2.50,-01,-0.06,71,925,0025,0,-1,00,00*37 MEM0 60132,1,0,0

FINISH 1.8,1.019008 MEM1 65508,1,0,0

SM_CCo 4007.42,116.42,0.878,0,587.2,662.2,512.2,603.15 MEM2 944444,35,102124,65

SM_GC 1.41,116.42,12.34,0.10,0.878,0.089,0.139,587.2,662.2,512.2,197.4,2185.9,0,0,0,11.77,15.66,15.68 DATA_FILE_SIZE 16107,552

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 3964062,0

IRIDIUM_FIX 4735.53,-12254.47,240522,185258 SDSIZE 3887104,3868704

TCM_TEMP 13.15 SDFILEDIR 76,1

SC_FREEKB 3877504 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -2000 SOUNDSPEED 1465.0

MODEM 2,1653424203,47.61230,-122.96660,3.225,4724.4 CURRENT 0.049, 67.2,1

RAFOS_FIX 4738.959961,-12257.996094,240522,212103,2,510,3510.39 MAGCAL 1.000000,0.026596,0.042122,0.011621,1.105304,-0.030256,0.003727,-0.032755,1.018910,427.1,-1334.9,-202.5,24,0.0254,1

HUMID 49.38 IMPLIED_C_PITCH 1751,18.76,294,1749.4,18.81

TEMP 10.54 IMPLIED_C_VBD 3016,30.741760,294,3031.2

INTERNAL_PRESSURE 8.11041 GPS 240522,211736,4736.452,-12256.766,3,0.8,5,15.5

_24V_AH 14.85,7.146

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 682 1085 10991.14 nil 0 0 0.00

Pitch_motor 29 295 128.13 nil 0 0 0.00

Roll_motor 70 172 181.14 nil 0 0 0.00

Iridium 126 209 392.93 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2680 5 204.46 SciCon 3862 6 395.33

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1368 0 6.53

Compass 1384 5 103.12

RAFOS 1088 40 648.87

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

6.55 16386 -146.63 -1.09 0.00 582.9 652.2 513.5 197.5 2188.2 0.00 0.00 0 76.33 66.44 0.00 0.00 0.005 0.000 0.000 2185.97 2152.44 2219.50 197.69 2188.50 0 0 0 15.81 30.00 30.00

76.63 18983 -146.63 -1.09 -80.00 2184.0 2150.9 2217.1 197.4 2188.4 3.02 -2.76 13 148.81 49.15 10.56 3.63 0.005 0.295 0.105 3643.16 3634.44 3651.88 1483.56 680.81 0 0 0 15.26 15.70 15.82

377.35 3205 -146.63 -0.89 0.00 3645.1 3640.5 3649.8 1483.6 680.9 38.99 -11.69 71 384.25 0.00 0.34 3.40 0.000 0.194 0.047 3645.47 3640.62 3650.31 1531.69 2177.38 0 0 0 30.00 15.87 15.95

567.66 548 -146.63 -0.89 -80.00 3645.3 3641.4 3649.2 1531.6 2177.1 54.91 -7.94 103 573.70 0.00 0.00 3.60 0.000 0.000 0.104 3646.72 3642.81 3650.62 1531.81 680.88 0 0 0 30.00 30.00 15.98

735.75 1188 -146.63 -0.84 0.00 3645.4 3641.8 3649.1 1532.0 681.0 70.59 -9.28 136 742.36 0.00 0.00 3.40 0.000 0.000 0.047 3646.22 3642.75 3649.69 1531.75 2178.00 0 0 0 30.00 30.00 15.98

931.43 32 -146.63 -0.84 0.00 3645.8 3643.0 3648.5 1531.9 2177.9 86.17 -7.67 156 933.00 0.00 0.00 0.00 0.000 0.000 0.000 3645.06 3642.38 3647.75 1531.56 2178.06 0 0 0 30.00 30.00 30.00

1121.55 160 -146.63 -0.87 0.00 3645.8 3643.4 3648.1 1532.1 2177.9 100.61 -7.82 175 1123.12 0.00 0.00 0.00 0.000 0.000 0.000 3645.25 3643.00 3647.50 1531.50 2178.06 0 0 0 30.00 30.00 30.00

1313.80 676 -146.63 -0.91 -80.00 3646.3 3644.2 3648.4 1532.3 2177.7 115.58 -8.06 193 1326.66 0.00 0.00 3.60 0.000 0.000 0.107 3646.97 3644.75 3649.19 1532.44 681.00 0 0 0 30.00 30.00 16.03

1340.24 1060 -146.63 -0.91 0.00 3646.0 3643.8 3648.2 1531.9 680.9 118.54 -8.47 198 1349.06 0.00 0.00 3.38 0.000 0.000 0.048 3646.72 3644.69 3648.75 1531.62 2176.50 0 0 0 30.00 30.00 16.07

1536.18 420 -146.63 -0.96 80.00 3646.2 3644.1 3648.2 1532.1 2176.3 134.77 -8.20 218 1544.33 0.00 0.00 3.45 0.000 0.000 0.109 3645.94 3643.50 3648.38 1532.62 3618.75 0 0 0 30.00 30.00 16.07

1563.68 1060 -146.63 -0.96 0.00 3646.3 3644.1 3648.5 1532.5 3618.9 137.30 -8.61 223 1570.82 0.00 0.00 3.37 0.000 0.000 0.047 3644.66 3642.81 3646.50 1532.62 2116.00 0 0 0 30.00 30.00 16.10

1755.26 4257 -146.63 -1.02 0.00 3646.2 3644.1 3648.4 1532.9 2114.8 153.44 -8.56 243 1758.28 0.00 0.30 0.00 0.000 0.087 0.000 3645.53 3643.75 3647.31 1486.75 2114.31 0 0 0 30.00 16.10 30.00

1824 end dive: TARGET_DEPTH_EXCEEDED

state 1824 begin apogee

1826.70 10243 0.00 -0.27 0.00 3646.5 3644.2 3648.7 1486.4 2185.3 160.54 -10.47 250 1951.88 110.78 1.43 0.11 1.085 0.159 0.173 3045.19 3098.44 2991.94 1684.19 2109.62 0 0 0 11.87 16.08 15.75

1954 end apogee: CONTROL_FINISHED_OK

state 1954 begin climb

1953.75 10759 146.63 1.09 -80.00 3044.7 3097.2 2992.1 1683.9 2109.9 164.61 0.00 262 2086.10 115.46 2.25 3.56 1.041 0.120 0.113 2445.72 2511.81 2379.62 2012.62 682.06 0 0 0 11.64 15.74 15.52

2105.51 5253 146.63 0.90 0.00 2445.3 2509.4 2381.3 2012.4 682.2 153.33 11.77 289 2117.92 0.00 0.44 3.47 0.000 0.186 0.049 2444.66 2508.06 2381.25 1959.25 2175.38 0 0 0 30.00 15.56 15.62

2305.50 8486 159.26 0.92 80.00 2441.4 2502.5 2380.4 1960.1 2176.1 134.66 9.13 310 2329.40 11.43 0.00 3.54 0.889 0.000 0.113 2395.75 2459.56 2331.94 1960.00 3616.62 0 0 0 11.73 30.00 15.76

2408.83 1156 159.26 0.85 0.00 2393.8 2456.1 2331.4 1959.0 3616.2 123.78 10.80 330 2417.07 0.00 0.00 3.42 0.000 0.000 0.047 2392.97 2455.81 2330.12 1959.81 2118.69 0 0 0 30.00 30.00 15.86

2603.81 8226 180.00 0.88 0.00 2393.9 2456.1 2331.6 1959.8 2117.1 106.11 8.77 350 2625.96 18.33 0.00 0.00 0.957 0.000 0.000 2311.97 2380.56 2243.38 1959.44 2117.38 0 0 0 11.77 30.00 30.00

2813.91 8614 193.59 0.94 80.00 2309.2 2375.8 2242.6 1959.5 2117.2 87.31 9.09 371 2837.84 12.81 0.00 3.65 0.901 0.000 0.113 2255.88 2326.00 2185.75 1959.56 3615.88 0 0 0 11.71 30.00 15.89

2911.30 1028 193.59 0.94 0.00 2253.4 2321.8 2185.1 1959.4 3616.1 77.25 10.58 390 2920.34 0.00 0.00 3.41 0.000 0.000 0.048 2254.03 2322.06 2186.00 1960.00 2118.00 0 0 0 30.00 30.00 15.95

3103.34 10663 212.72 1.04 80.00 2253.1 2320.9 2185.2 1959.9 2117.8 60.20 8.84 409 3131.00 16.60 0.29 3.65 0.925 0.082 0.112 2178.34 2251.94 2104.75 2006.12 3618.31 0 0 0 11.80 15.96 15.84

3200.43 5253 212.72 0.93 0.00 2175.2 2246.2 2104.2 2006.8 3619.2 48.09 13.63 427 3208.80 0.00 0.31 3.42 0.000 0.178 0.049 2177.56 2248.44 2106.69 1966.75 2120.94 0 0 0 30.00 15.88 15.93

3393.24 10663 235.46 1.05 80.00 2175.6 2246.6 2104.6 1966.6 2121.2 29.74 8.68 465 3424.48 18.91 0.26 3.63 0.913 0.087 0.111 2084.56 2162.56 2006.56 2008.19 3618.06 0 0 0 11.67 15.96 15.88

3483.90 1156 235.46 1.01 0.00 2082.1 2158.2 2006.0 2007.8 3617.8 19.28 11.99 482 3491.99 0.00 0.00 3.41 0.000 0.000 0.049 2083.56 2159.25 2007.88 2008.19 2118.31 0 0 0 30.00 30.00 15.95

3675.28 10663 322.52 1.21 80.00 2082.2 2157.8 2006.6 2008.3 2118.5 4.09 5.79 520 3751.93 64.57 0.19 3.67 0.923 0.097 0.109 1729.38 1831.06 1627.69 2047.31 3616.31 0 0 0 11.73 16.00 15.80

3756.41 11431 474.59 1.56 0.00 1727.0 1826.8 1627.2 2046.8 3616.5 2.21 2.87 534 3849.82 81.19 0.50 3.42 0.896 0.076 0.045 1269.16 1383.31 1155.00 2132.50 2113.25 0 0 0 11.80 15.82 15.84

3850 end climb: SURFACE_DEPTH_REACHED

state 3850 begin surface coast

3855 end surface coast: CONTROL_FINISHED_OK

state 3855 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	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	4	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	3046.7905	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	1747.6526	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	18.867619	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.428251	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	27.271379	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	240522,200631,4736.009,-12256.942,22,1.0,23,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,200946,4736.023,-12256.909,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	359.8,1917,-17.1,-9.697,-20.82,2278,0.124
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	N	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	4737.000,-12256.400

NAV	1653426434,27.3,2,stop	_10V_AH	14.90,0.000
NET	CACST,8,0,20220524210215.355276,06,32767,45,0103,0150,07,00,00,00,00,1,045,121,0,5,7,0,150,8.9,7.55,-100,-4.55,-01,-1.15,76,10000,5000,0,5,01,00*67	FG_AHR_24Vo	27.432
NET_PING	1653425531,28,1373.784058,15.100000,-1.824262	FG_AHR_10Vo	19.457
MODEM_MSG	CACST,8,1,20220524210501.524890,18,2425,27,0143,0000,246,03,03,01,03,-1,-01,-01,1,3,0,0,150,-41.7,0.50,-100,2.50,-01,-0.06,71,925,0025,0,-1,00,00*37	MEM0	60132,1,0,0
FINISH	1.8,1.019008	MEM1	65508,1,0,0
SM_CCo	4007.42,116.42,0.878,0,587.2,662.2,512.2,603.15	MEM2	944444,35,102124,65
SM_GC	1.41,116.42,12.34,0.10,0.878,0.089,0.139,587.2,662.2,512.2,197.4,2185.9,0,0,0,11.77,15.66,15.68	DATA_FILE_SIZE	16107,552
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	3964062,0
IRIDIUM_FIX	4735.53,-12254.47,240522,185258	SDSIZE	3887104,3868704
TCM_TEMP	13.15	SDFILEDIR	76,1
SC_FREEKB	3877504	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-2000	SOUNDSPEED	1465.0
MODEM	2,1653424203,47.61230,-122.96660,3.225,4724.4	CURRENT	0.049, 67.2,1
RAFOS_FIX	4738.959961,-12257.996094,240522,212103,2,510,3510.39	MAGCAL	1.000000,0.026596,0.042122,0.011621,1.105304,-0.030256,0.003727,-0.032755,1.018910,427.1,-1334.9,-202.5,24,0.0254,1
HUMID	49.38	IMPLIED_C_PITCH	1751,18.76,294,1749.4,18.81
TEMP	10.54	IMPLIED_C_VBD	3016,30.741760,294,3031.2
INTERNAL_PRESSURE	8.11041	GPS	240522,211736,4736.452,-12256.766,3,0.8,5,15.5
_24V_AH	14.85,7.146

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	682	1085	10991.14	nil	0	0	0.00
Pitch_motor	29	295	128.13	nil	0	0	0.00
Roll_motor	70	172	181.14	nil	0	0	0.00
Iridium	126	209	392.93	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2680	5	204.46	SciCon	3862	6	395.33
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1368	0	6.53
Compass	1384	5	103.12
RAFOS	1088	40	648.87
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
6.55	16386	-146.63	-1.09	0.00	582.9	652.2	513.5	197.5	2188.2	0.00	0.00	0	76.33	66.44	0.00	0.00	0.005	0.000	0.000	2185.97	2152.44	2219.50	197.69	2188.50	0	0	0	15.81	30.00	30.00
76.63	18983	-146.63	-1.09	-80.00	2184.0	2150.9	2217.1	197.4	2188.4	3.02	-2.76	13	148.81	49.15	10.56	3.63	0.005	0.295	0.105	3643.16	3634.44	3651.88	1483.56	680.81	0	0	0	15.26	15.70	15.82
377.35	3205	-146.63	-0.89	0.00	3645.1	3640.5	3649.8	1483.6	680.9	38.99	-11.69	71	384.25	0.00	0.34	3.40	0.000	0.194	0.047	3645.47	3640.62	3650.31	1531.69	2177.38	0	0	0	30.00	15.87	15.95
567.66	548	-146.63	-0.89	-80.00	3645.3	3641.4	3649.2	1531.6	2177.1	54.91	-7.94	103	573.70	0.00	0.00	3.60	0.000	0.000	0.104	3646.72	3642.81	3650.62	1531.81	680.88	0	0	0	30.00	30.00	15.98
735.75	1188	-146.63	-0.84	0.00	3645.4	3641.8	3649.1	1532.0	681.0	70.59	-9.28	136	742.36	0.00	0.00	3.40	0.000	0.000	0.047	3646.22	3642.75	3649.69	1531.75	2178.00	0	0	0	30.00	30.00	15.98
931.43	32	-146.63	-0.84	0.00	3645.8	3643.0	3648.5	1531.9	2177.9	86.17	-7.67	156	933.00	0.00	0.00	0.00	0.000	0.000	0.000	3645.06	3642.38	3647.75	1531.56	2178.06	0	0	0	30.00	30.00	30.00
1121.55	160	-146.63	-0.87	0.00	3645.8	3643.4	3648.1	1532.1	2177.9	100.61	-7.82	175	1123.12	0.00	0.00	0.00	0.000	0.000	0.000	3645.25	3643.00	3647.50	1531.50	2178.06	0	0	0	30.00	30.00	30.00
1313.80	676	-146.63	-0.91	-80.00	3646.3	3644.2	3648.4	1532.3	2177.7	115.58	-8.06	193	1326.66	0.00	0.00	3.60	0.000	0.000	0.107	3646.97	3644.75	3649.19	1532.44	681.00	0	0	0	30.00	30.00	16.03
1340.24	1060	-146.63	-0.91	0.00	3646.0	3643.8	3648.2	1531.9	680.9	118.54	-8.47	198	1349.06	0.00	0.00	3.38	0.000	0.000	0.048	3646.72	3644.69	3648.75	1531.62	2176.50	0	0	0	30.00	30.00	16.07
1536.18	420	-146.63	-0.96	80.00	3646.2	3644.1	3648.2	1532.1	2176.3	134.77	-8.20	218	1544.33	0.00	0.00	3.45	0.000	0.000	0.109	3645.94	3643.50	3648.38	1532.62	3618.75	0	0	0	30.00	30.00	16.07
1563.68	1060	-146.63	-0.96	0.00	3646.3	3644.1	3648.5	1532.5	3618.9	137.30	-8.61	223	1570.82	0.00	0.00	3.37	0.000	0.000	0.047	3644.66	3642.81	3646.50	1532.62	2116.00	0	0	0	30.00	30.00	16.10
1755.26	4257	-146.63	-1.02	0.00	3646.2	3644.1	3648.4	1532.9	2114.8	153.44	-8.56	243	1758.28	0.00	0.30	0.00	0.000	0.087	0.000	3645.53	3643.75	3647.31	1486.75	2114.31	0	0	0	30.00	16.10	30.00
1824	end dive: TARGET_DEPTH_EXCEEDED
state	1824	begin apogee
1826.70	10243	0.00	-0.27	0.00	3646.5	3644.2	3648.7	1486.4	2185.3	160.54	-10.47	250	1951.88	110.78	1.43	0.11	1.085	0.159	0.173	3045.19	3098.44	2991.94	1684.19	2109.62	0	0	0	11.87	16.08	15.75
1954	end apogee: CONTROL_FINISHED_OK
state	1954	begin climb
1953.75	10759	146.63	1.09	-80.00	3044.7	3097.2	2992.1	1683.9	2109.9	164.61	0.00	262	2086.10	115.46	2.25	3.56	1.041	0.120	0.113	2445.72	2511.81	2379.62	2012.62	682.06	0	0	0	11.64	15.74	15.52
2105.51	5253	146.63	0.90	0.00	2445.3	2509.4	2381.3	2012.4	682.2	153.33	11.77	289	2117.92	0.00	0.44	3.47	0.000	0.186	0.049	2444.66	2508.06	2381.25	1959.25	2175.38	0	0	0	30.00	15.56	15.62
2305.50	8486	159.26	0.92	80.00	2441.4	2502.5	2380.4	1960.1	2176.1	134.66	9.13	310	2329.40	11.43	0.00	3.54	0.889	0.000	0.113	2395.75	2459.56	2331.94	1960.00	3616.62	0	0	0	11.73	30.00	15.76
2408.83	1156	159.26	0.85	0.00	2393.8	2456.1	2331.4	1959.0	3616.2	123.78	10.80	330	2417.07	0.00	0.00	3.42	0.000	0.000	0.047	2392.97	2455.81	2330.12	1959.81	2118.69	0	0	0	30.00	30.00	15.86
2603.81	8226	180.00	0.88	0.00	2393.9	2456.1	2331.6	1959.8	2117.1	106.11	8.77	350	2625.96	18.33	0.00	0.00	0.957	0.000	0.000	2311.97	2380.56	2243.38	1959.44	2117.38	0	0	0	11.77	30.00	30.00
2813.91	8614	193.59	0.94	80.00	2309.2	2375.8	2242.6	1959.5	2117.2	87.31	9.09	371	2837.84	12.81	0.00	3.65	0.901	0.000	0.113	2255.88	2326.00	2185.75	1959.56	3615.88	0	0	0	11.71	30.00	15.89
2911.30	1028	193.59	0.94	0.00	2253.4	2321.8	2185.1	1959.4	3616.1	77.25	10.58	390	2920.34	0.00	0.00	3.41	0.000	0.000	0.048	2254.03	2322.06	2186.00	1960.00	2118.00	0	0	0	30.00	30.00	15.95
3103.34	10663	212.72	1.04	80.00	2253.1	2320.9	2185.2	1959.9	2117.8	60.20	8.84	409	3131.00	16.60	0.29	3.65	0.925	0.082	0.112	2178.34	2251.94	2104.75	2006.12	3618.31	0	0	0	11.80	15.96	15.84
3200.43	5253	212.72	0.93	0.00	2175.2	2246.2	2104.2	2006.8	3619.2	48.09	13.63	427	3208.80	0.00	0.31	3.42	0.000	0.178	0.049	2177.56	2248.44	2106.69	1966.75	2120.94	0	0	0	30.00	15.88	15.93
3393.24	10663	235.46	1.05	80.00	2175.6	2246.6	2104.6	1966.6	2121.2	29.74	8.68	465	3424.48	18.91	0.26	3.63	0.913	0.087	0.111	2084.56	2162.56	2006.56	2008.19	3618.06	0	0	0	11.67	15.96	15.88
3483.90	1156	235.46	1.01	0.00	2082.1	2158.2	2006.0	2007.8	3617.8	19.28	11.99	482	3491.99	0.00	0.00	3.41	0.000	0.000	0.049	2083.56	2159.25	2007.88	2008.19	2118.31	0	0	0	30.00	30.00	15.95
3675.28	10663	322.52	1.21	80.00	2082.2	2157.8	2006.6	2008.3	2118.5	4.09	5.79	520	3751.93	64.57	0.19	3.67	0.923	0.097	0.109	1729.38	1831.06	1627.69	2047.31	3616.31	0	0	0	11.73	16.00	15.80
3756.41	11431	474.59	1.56	0.00	1727.0	1826.8	1627.2	2046.8	3616.5	2.21	2.87	534	3849.82	81.19	0.50	3.42	0.896	0.076	0.045	1269.16	1383.31	1155.00	2132.50	2113.25	0	0	0	11.80	15.82	15.84
3850	end climb: SURFACE_DEPTH_REACHED
state	3850	begin surface coast
3855	end surface coast: CONTROL_FINISHED_OK
state	3855	begin surface