Glider dive log

HoodCanal 14Jun23 * SG242 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 7 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

MISSION 7 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 575 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 1 XPDR_REP 0

D_FLARE 3 FILEMGR 2 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2850 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 0 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE3 -1

D_SAFE 500 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 4 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 2 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 70 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 480 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 10800 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.07 C_PITCH 1709.7937 MINV_24V 0 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.653976 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.290386 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 27.038157 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0099999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -182.40242 SEABIRD_T_J 4.3e-06

MASS 72380 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 6

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3800 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 210 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1980 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 4 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 500 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 0 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 210 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 6 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 42.290386 PHONE_SUPPLY 2 SM_CC 575

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.038157 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 PITCH_ADJ_GAIN 0.0099999998 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 7 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 6

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.653976 SURFACE_URGENCY_FORCE 12

CALL_TRIES 3 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 6

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 20 PITCH_MIN 220 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 242 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT -3.2 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1709.7937 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022512203 T_MISSION 70

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -182.40242 T_NO_W 480

C_ROLL_CLIMB 1900 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 1980 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 2850 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 400 RAFOS_HIT_WINDOW 10800 UNCOM_BLEED 400

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 700 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 2 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72380 ROLL_ADJ_DBAND 0.029999999 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 5 ROLL_ADJ_GAIN 1 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 2

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3800 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 800

DIVE 4 MISSION 7 ROLL_MIN 195 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 4 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 140623,202512,4736.910,-12256.733,1,1.1,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140623,202811,4736.902,-12256.762,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 53.0,486,-18.5,-10.000,-22.03,2014,0.128

SPEED_LIMITS 0.173,0.258 D_GRID 163

TGT_NAME N IRON 1.000000,0.016041,0.079816,-0.017868,1.027864,-0.020822,0.028195,-0.156783,0.884719,661.664612,-834.674255,-504.894135

TGT_LATLONG 4737.000,-12256.400 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230614212501.751088,18,32767,45,0113,0000,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-31.9,0.51,-100,2.49,-01,0.27,51,925,0025,0,-1,00,00*20 INTERNAL_PRESSURE 8.32198

NAV 1686778215,2.2,5,stop _24V_AH 15.11,30.568

NET CACST,8,1,20230614213017.354703,18,6456,38,0213,0103,07,01,01,00,01,1,012,121,3,5,7,4,150,2.2,1.85,-100,1.15,-01,-2.66,57,10000,5000,0,1,03,03*76 _10V_AH 15.00,0.000

_74668fdb00ae2046;1;60;00020001d31c7b9f5dc5dc7f17800010017a8ee8cd1fb6015c408c00040003a638f740bb8bb8fe2f0000202ef51dd19ea1d0280c10111197a8ee8cac*41 FG_AHR_24Vo 27.206

_99b68fd9d0ae1f94;1;63;00020001d49c83915dc5dc7f13c00011017a8f338d1fb3a15c3f2800040003a9390722bb8bb8fe278000222ef51e671ea1d0281410111157a8f3367ae89000*40 FG_AHR_10Vo 42.331

bf668fd8b0ae1ef2;1;63;00020001d35c83995dc5dc7e49800011017a8f7ecd1fb1615c3de400040003a6b9072abb8bb8fc930000222ef51efddea1d0281810111157a8f7ee6c391000*4D MEM0 60020,1,0,0

FINISH 1.7,1.017501 MEM1 65508,1,0,0

SURF forcing MEM2 946068,24,100600,71

SM_CCo 4259.50,70.49,0.970,0,506.8,416.8,596.7,574.80 DATA_FILE_SIZE 16109,642

SM_GC 1.98,70.49,12.70,0.09,0.970,0.063,0.143,506.8,416.8,596.7,207.8,2018.1,0,0,0,10.88,15.85,15.89 CAP_FILE_SIZE 200813,0

SUPER 19,71,254,1,0,0 SDSIZE 3887104,3868928

IRIDIUM_FIX 4738.33,-12256.21,140623,202311 SDFILEDIR 69,5

TCM_TEMP 17.32 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3877504 SOUNDSPEED 1465.0

RAFOS_CLK 0 CURRENT 0.057,203.3,1

MODEM 0,1686772823,47.50000,-123.00000,23.049,33766.9 MAGCAL 1.000000,0.053902,0.021025,-0.024722,1.038653,-0.020468,0.004903,-0.072990,0.959417,718.4,-846.6,-620.1,36,0.0305,0

RAFOS_FIX 4909.127441,-12300.000000,140623,212101,10,255,50.10 IMPLIED_C_PITCH 1726,13.32,263,1718.1,13.49

HUMID 49.93 IMPLIED_C_VBD 2827,43.907372,263,0

TEMP 12.95 GPS 140623,214139,4736.861,-12256.365,2,1.4,14,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 654 1138 11250.77 nil 0 0 0.00

Pitch_motor 26 228 92.71 nil 0 0 0.00

Roll_motor 56 177 149.98 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 13 15 3.03 nil 0 0 0.00

Core 2448 5 188.07 SciCon 4156 6 423.72

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1771 0 8.50

Compass 1344 5 100.81

RAFOS 2924 40 1754.42

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

7.66 16386 -133.49 -1.52 0.00 505.5 406.7 604.4 202.8 2020.3 0.00 0.00 0 72.38 59.90 0.00 0.00 0.005 0.000 0.000 1935.31 1899.00 1971.62 202.81 2020.56 0 0 0 15.91 30.00 30.00

72.81 18983 -146.63 -1.54 -80.00 1935.3 1897.8 1972.8 202.9 2020.9 3.00 -2.49 12 151.80 52.31 8.31 3.65 0.005 0.228 0.117 3444.72 3405.31 3484.12 1338.75 511.75 0 0 0 15.91 13.58 15.86

380.52 1188 -146.63 -1.46 0.00 3446.6 3405.1 3488.1 1338.8 511.9 24.60 -8.39 71 388.20 0.00 0.00 3.38 0.000 0.000 0.049 3446.00 3404.94 3487.06 1338.75 2016.44 0 0 0 30.00 30.00 15.96

571.90 2469 -146.63 -1.43 80.00 3446.9 3404.4 3489.4 1338.5 2016.9 39.27 -8.00 109 579.81 0.00 0.17 3.40 0.000 0.166 0.105 3446.69 3403.44 3489.94 1367.12 3449.06 0 0 0 30.00 15.89 15.93

806.50 1156 -146.63 -1.40 0.09 3447.0 3404.4 3489.5 1366.8 3449.0 61.46 -10.40 155 813.96 0.00 0.00 3.38 0.000 0.000 0.056 3449.31 3406.75 3491.88 1366.56 1950.12 0 0 0 30.00 30.00 16.02

1002.29 32 -146.63 -1.40 0.09 3447.5 3405.2 3489.8 1366.4 1949.9 79.18 -9.37 175 1004.04 0.00 0.00 0.00 0.000 0.000 0.000 3446.72 3403.94 3489.50 1366.81 1949.44 0 0 0 30.00 30.00 30.00

1192.22 292 -146.63 -1.40 80.00 3447.4 3404.6 3490.2 1366.9 1950.0 96.44 -8.81 194 1199.65 0.00 0.00 3.60 0.000 0.000 0.106 3447.25 3403.94 3490.56 1366.12 3449.62 0 0 0 30.00 30.00 16.00

1238.34 1156 -146.63 -1.39 -0.07 3447.7 3404.6 3490.8 1366.8 3450.2 101.05 -10.18 203 1245.50 0.00 0.00 3.38 0.000 0.000 0.057 3447.28 3403.81 3490.75 1366.62 1947.75 0 0 0 30.00 30.00 16.05

1433.35 292 -146.63 -1.39 80.00 3447.3 3404.1 3490.4 1366.1 1947.4 119.92 -9.47 223 1441.76 0.00 0.00 3.61 0.000 0.000 0.107 3448.75 3404.25 3493.25 1366.25 3448.06 0 0 0 30.00 30.00 16.00

1504.67 1156 -146.63 -1.38 0.25 3447.5 3404.7 3490.4 1367.0 3449.1 127.56 -10.62 237 1512.28 0.00 0.00 3.38 0.000 0.000 0.059 3447.34 3404.31 3490.38 1366.69 1954.06 0 0 0 30.00 30.00 16.06

1700.38 548 -146.63 -1.38 -80.00 3447.5 3404.6 3490.4 1366.5 1953.8 146.29 -9.98 257 1707.69 0.00 0.00 3.48 0.000 0.000 0.125 3447.50 3404.00 3491.00 1366.31 511.81 0 0 0 30.00 30.00 16.00

1736 end dive: TARGET_DEPTH_EXCEEDED

state 1736 begin apogee

1743.56 10243 0.00 -0.37 0.00 3447.0 3403.2 3490.8 1366.6 1940.9 150.32 -11.21 264 1868.65 110.07 1.65 0.13 1.138 0.121 0.177 2849.84 2739.56 2960.12 1625.06 1864.81 0 0 0 10.67 15.95 15.65

1869 end apogee: CONTROL_FINISHED_OK

state 1870 begin climb

1870.35 11271 146.63 1.54 0.00 2848.2 2737.0 2959.3 1625.5 1865.2 154.40 0.00 275 1998.80 113.10 2.92 0.11 1.105 0.085 0.128 2253.72 2147.31 2360.12 2086.88 1942.50 0 0 0 11.11 15.69 15.73

2182.39 16514 146.63 1.52 0.00 2243.6 2141.1 2346.1 2086.8 1941.9 121.66 12.84 316 2184.18 0.00 0.00 0.00 0.000 0.000 0.000 2242.84 2140.06 2345.62 2086.19 1941.62 0 0 0 30.00 30.00 30.00

2372.49 16514 146.63 1.50 0.00 2242.7 2141.4 2344.1 2086.2 1941.8 99.28 11.20 335 2374.28 0.00 0.00 0.00 0.000 0.000 0.000 2241.41 2140.06 2342.75 2086.19 1941.06 0 0 0 30.00 30.00 30.00

2562.43 16774 146.63 1.48 80.00 2242.0 2141.4 2342.5 2087.2 1941.2 78.27 10.77 354 2569.71 0.00 0.00 3.48 0.000 0.000 0.112 2240.47 2139.56 2341.38 2086.75 3368.38 0 0 0 30.00 30.00 15.84

2618.38 21639 146.63 1.45 0.10 2241.6 2140.6 2342.6 2087.1 3368.1 71.67 12.11 365 2626.95 0.00 0.25 3.43 0.000 0.164 0.063 2243.16 2141.62 2344.69 2055.25 1874.44 0 0 0 30.00 15.81 15.88

2813.39 8226 180.96 1.50 0.10 2241.0 2139.4 2342.6 2055.5 1874.8 53.42 8.26 385 2844.69 26.27 0.00 0.00 1.005 0.000 0.000 2111.78 2006.62 2216.94 2055.56 1874.56 0 0 0 10.98 30.00 30.00

3028.48 10663 206.10 1.55 80.00 2106.9 2004.1 2209.6 2055.1 1874.6 34.23 8.72 423 3061.85 20.84 0.20 3.66 0.970 0.067 0.111 2008.53 1905.12 2111.94 2102.44 3369.38 0 0 0 11.03 15.89 15.79

3099.37 1156 206.10 1.53 0.24 2007.0 1904.2 2109.8 2102.8 3369.9 26.25 12.14 436 3107.30 0.00 0.00 3.44 0.000 0.000 0.062 2005.41 1903.25 2107.56 2102.25 1876.88 0 0 0 30.00 30.00 15.85

3291.06 8354 251.71 1.60 0.24 2005.0 1904.2 2105.8 2103.1 1877.1 8.49 7.68 474 3332.15 35.13 0.00 0.00 0.975 0.000 0.000 1822.06 1714.19 1929.94 2103.00 1876.62 0 0 0 10.88 30.00 30.00

3516.01 10919 447.91 1.89 -80.00 1816.8 1709.6 1923.9 2102.6 1876.8 4.19 0.03 519 3676.24 141.32 0.39 3.63 0.979 0.050 0.132 1024.31 911.69 1136.94 2187.81 433.94 0 0 0 11.02 15.87 15.50

3905.51 11431 644.30 2.19 0.34 1019.7 911.1 1128.4 2187.7 434.2 2.05 0.02 593 3939.98 24.74 0.31 3.47 0.931 0.062 0.052 897.09 782.62 1011.56 2257.12 1950.69 0 0 0 10.96 15.85 15.85

3940 end climb: SURFACE_DEPTH_REACHED

state 3940 begin surface coast

4153 end surface coast: CONTROL_FINISHED_OK

state 4154 begin surface

ID	242	FIX_MISSING_TIMEOUT	7	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
MISSION	7	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	575	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	1	XPDR_REP	0
D_FLARE	3	FILEMGR	2	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2850	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	0	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE3	-1
D_SAFE	500	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	4	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	2	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	70	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	480	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	10800	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.07	C_PITCH	1709.7937	MINV_24V	0	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.653976	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.290386	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	27.038157	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.40242	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	6
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	210	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1980	ALTIM_FREQUENCY	13

GPS1	140623,202512,4736.910,-12256.733,1,1.1,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140623,202811,4736.902,-12256.762,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	53.0,486,-18.5,-10.000,-22.03,2014,0.128
SPEED_LIMITS	0.173,0.258	D_GRID	163
TGT_NAME	N	IRON	1.000000,0.016041,0.079816,-0.017868,1.027864,-0.020822,0.028195,-0.156783,0.884719,661.664612,-834.674255,-504.894135
TGT_LATLONG	4737.000,-12256.400	OSC	8000266

MODEM_MSG	CACST,8,1,20230614212501.751088,18,32767,45,0113,0000,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-31.9,0.51,-100,2.49,-01,0.27,51,925,0025,0,-1,00,00*20	INTERNAL_PRESSURE	8.32198
NAV	1686778215,2.2,5,stop	_24V_AH	15.11,30.568
NET	CACST,8,1,20230614213017.354703,18,6456,38,0213,0103,07,01,01,00,01,1,012,121,3,5,7,4,150,2.2,1.85,-100,1.15,-01,-2.66,57,10000,5000,0,1,03,03*76	_10V_AH	15.00,0.000
_74668fdb00ae2046;1;60;00020001d31c7b9f5dc5dc7f17800010017a8ee8cd1fb6015c408c00040003a638f740bb8bb8fe2f0000202ef51dd19ea1d0280c10111197a8ee8cac*41		FG_AHR_24Vo	27.206
_99b68fd9d0ae1f94;1;63;00020001d49c83915dc5dc7f13c00011017a8f338d1fb3a15c3f2800040003a9390722bb8bb8fe278000222ef51e671ea1d0281410111157a8f3367ae89000*40		FG_AHR_10Vo	42.331
bf668fd8b0ae1ef2;1;63;00020001d35c83995dc5dc7e49800011017a8f7ecd1fb1615c3de400040003a6b9072abb8bb8fc930000222ef51efddea1d0281810111157a8f7ee6c391000*4D		MEM0	60020,1,0,0
FINISH	1.7,1.017501	MEM1	65508,1,0,0
SURF	forcing	MEM2	946068,24,100600,71
SM_CCo	4259.50,70.49,0.970,0,506.8,416.8,596.7,574.80	DATA_FILE_SIZE	16109,642
SM_GC	1.98,70.49,12.70,0.09,0.970,0.063,0.143,506.8,416.8,596.7,207.8,2018.1,0,0,0,10.88,15.85,15.89	CAP_FILE_SIZE	200813,0
SUPER	19,71,254,1,0,0	SDSIZE	3887104,3868928
IRIDIUM_FIX	4738.33,-12256.21,140623,202311	SDFILEDIR	69,5
TCM_TEMP	17.32	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3877504	SOUNDSPEED	1465.0
RAFOS_CLK	0	CURRENT	0.057,203.3,1
MODEM	0,1686772823,47.50000,-123.00000,23.049,33766.9	MAGCAL	1.000000,0.053902,0.021025,-0.024722,1.038653,-0.020468,0.004903,-0.072990,0.959417,718.4,-846.6,-620.1,36,0.0305,0
RAFOS_FIX	4909.127441,-12300.000000,140623,212101,10,255,50.10	IMPLIED_C_PITCH	1726,13.32,263,1718.1,13.49
HUMID	49.93	IMPLIED_C_VBD	2827,43.907372,263,0
TEMP	12.95	GPS	140623,214139,4736.861,-12256.365,2,1.4,14,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	654	1138	11250.77	nil	0	0	0.00
Pitch_motor	26	228	92.71	nil	0	0	0.00
Roll_motor	56	177	149.98	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	13	15	3.03	nil	0	0	0.00
Core	2448	5	188.07	SciCon	4156	6	423.72
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1771	0	8.50
Compass	1344	5	100.81
RAFOS	2924	40	1754.42
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
7.66	16386	-133.49	-1.52	0.00	505.5	406.7	604.4	202.8	2020.3	0.00	0.00	0	72.38	59.90	0.00	0.00	0.005	0.000	0.000	1935.31	1899.00	1971.62	202.81	2020.56	0	0	0	15.91	30.00	30.00
72.81	18983	-146.63	-1.54	-80.00	1935.3	1897.8	1972.8	202.9	2020.9	3.00	-2.49	12	151.80	52.31	8.31	3.65	0.005	0.228	0.117	3444.72	3405.31	3484.12	1338.75	511.75	0	0	0	15.91	13.58	15.86
380.52	1188	-146.63	-1.46	0.00	3446.6	3405.1	3488.1	1338.8	511.9	24.60	-8.39	71	388.20	0.00	0.00	3.38	0.000	0.000	0.049	3446.00	3404.94	3487.06	1338.75	2016.44	0	0	0	30.00	30.00	15.96
571.90	2469	-146.63	-1.43	80.00	3446.9	3404.4	3489.4	1338.5	2016.9	39.27	-8.00	109	579.81	0.00	0.17	3.40	0.000	0.166	0.105	3446.69	3403.44	3489.94	1367.12	3449.06	0	0	0	30.00	15.89	15.93
806.50	1156	-146.63	-1.40	0.09	3447.0	3404.4	3489.5	1366.8	3449.0	61.46	-10.40	155	813.96	0.00	0.00	3.38	0.000	0.000	0.056	3449.31	3406.75	3491.88	1366.56	1950.12	0	0	0	30.00	30.00	16.02
1002.29	32	-146.63	-1.40	0.09	3447.5	3405.2	3489.8	1366.4	1949.9	79.18	-9.37	175	1004.04	0.00	0.00	0.00	0.000	0.000	0.000	3446.72	3403.94	3489.50	1366.81	1949.44	0	0	0	30.00	30.00	30.00
1192.22	292	-146.63	-1.40	80.00	3447.4	3404.6	3490.2	1366.9	1950.0	96.44	-8.81	194	1199.65	0.00	0.00	3.60	0.000	0.000	0.106	3447.25	3403.94	3490.56	1366.12	3449.62	0	0	0	30.00	30.00	16.00
1238.34	1156	-146.63	-1.39	-0.07	3447.7	3404.6	3490.8	1366.8	3450.2	101.05	-10.18	203	1245.50	0.00	0.00	3.38	0.000	0.000	0.057	3447.28	3403.81	3490.75	1366.62	1947.75	0	0	0	30.00	30.00	16.05
1433.35	292	-146.63	-1.39	80.00	3447.3	3404.1	3490.4	1366.1	1947.4	119.92	-9.47	223	1441.76	0.00	0.00	3.61	0.000	0.000	0.107	3448.75	3404.25	3493.25	1366.25	3448.06	0	0	0	30.00	30.00	16.00
1504.67	1156	-146.63	-1.38	0.25	3447.5	3404.7	3490.4	1367.0	3449.1	127.56	-10.62	237	1512.28	0.00	0.00	3.38	0.000	0.000	0.059	3447.34	3404.31	3490.38	1366.69	1954.06	0	0	0	30.00	30.00	16.06
1700.38	548	-146.63	-1.38	-80.00	3447.5	3404.6	3490.4	1366.5	1953.8	146.29	-9.98	257	1707.69	0.00	0.00	3.48	0.000	0.000	0.125	3447.50	3404.00	3491.00	1366.31	511.81	0	0	0	30.00	30.00	16.00
1736	end dive: TARGET_DEPTH_EXCEEDED
state	1736	begin apogee
1743.56	10243	0.00	-0.37	0.00	3447.0	3403.2	3490.8	1366.6	1940.9	150.32	-11.21	264	1868.65	110.07	1.65	0.13	1.138	0.121	0.177	2849.84	2739.56	2960.12	1625.06	1864.81	0	0	0	10.67	15.95	15.65
1869	end apogee: CONTROL_FINISHED_OK
state	1870	begin climb
1870.35	11271	146.63	1.54	0.00	2848.2	2737.0	2959.3	1625.5	1865.2	154.40	0.00	275	1998.80	113.10	2.92	0.11	1.105	0.085	0.128	2253.72	2147.31	2360.12	2086.88	1942.50	0	0	0	11.11	15.69	15.73
2182.39	16514	146.63	1.52	0.00	2243.6	2141.1	2346.1	2086.8	1941.9	121.66	12.84	316	2184.18	0.00	0.00	0.00	0.000	0.000	0.000	2242.84	2140.06	2345.62	2086.19	1941.62	0	0	0	30.00	30.00	30.00
2372.49	16514	146.63	1.50	0.00	2242.7	2141.4	2344.1	2086.2	1941.8	99.28	11.20	335	2374.28	0.00	0.00	0.00	0.000	0.000	0.000	2241.41	2140.06	2342.75	2086.19	1941.06	0	0	0	30.00	30.00	30.00
2562.43	16774	146.63	1.48	80.00	2242.0	2141.4	2342.5	2087.2	1941.2	78.27	10.77	354	2569.71	0.00	0.00	3.48	0.000	0.000	0.112	2240.47	2139.56	2341.38	2086.75	3368.38	0	0	0	30.00	30.00	15.84
2618.38	21639	146.63	1.45	0.10	2241.6	2140.6	2342.6	2087.1	3368.1	71.67	12.11	365	2626.95	0.00	0.25	3.43	0.000	0.164	0.063	2243.16	2141.62	2344.69	2055.25	1874.44	0	0	0	30.00	15.81	15.88
2813.39	8226	180.96	1.50	0.10	2241.0	2139.4	2342.6	2055.5	1874.8	53.42	8.26	385	2844.69	26.27	0.00	0.00	1.005	0.000	0.000	2111.78	2006.62	2216.94	2055.56	1874.56	0	0	0	10.98	30.00	30.00
3028.48	10663	206.10	1.55	80.00	2106.9	2004.1	2209.6	2055.1	1874.6	34.23	8.72	423	3061.85	20.84	0.20	3.66	0.970	0.067	0.111	2008.53	1905.12	2111.94	2102.44	3369.38	0	0	0	11.03	15.89	15.79
3099.37	1156	206.10	1.53	0.24	2007.0	1904.2	2109.8	2102.8	3369.9	26.25	12.14	436	3107.30	0.00	0.00	3.44	0.000	0.000	0.062	2005.41	1903.25	2107.56	2102.25	1876.88	0	0	0	30.00	30.00	15.85
3291.06	8354	251.71	1.60	0.24	2005.0	1904.2	2105.8	2103.1	1877.1	8.49	7.68	474	3332.15	35.13	0.00	0.00	0.975	0.000	0.000	1822.06	1714.19	1929.94	2103.00	1876.62	0	0	0	10.88	30.00	30.00
3516.01	10919	447.91	1.89	-80.00	1816.8	1709.6	1923.9	2102.6	1876.8	4.19	0.03	519	3676.24	141.32	0.39	3.63	0.979	0.050	0.132	1024.31	911.69	1136.94	2187.81	433.94	0	0	0	11.02	15.87	15.50
3905.51	11431	644.30	2.19	0.34	1019.7	911.1	1128.4	2187.7	434.2	2.05	0.02	593	3939.98	24.74	0.31	3.47	0.931	0.062	0.052	897.09	782.62	1011.56	2257.12	1950.69	0	0	0	10.96	15.85	15.85
3940	end climb: SURFACE_DEPTH_REACHED
state	3940	begin surface coast
4153	end surface coast: CONTROL_FINISHED_OK
state	4154	begin surface