Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 5 * 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 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 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 3038.1509 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 1749.4636 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 18.776474 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.655455 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 28.58242 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 0 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 19.655455 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.58242 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 18.776474 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 1749.4636 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 3038.1509 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 5 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 250522,065259,4735.951,-12257.122,8,1.6,14,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,065602,4735.962,-12257.132,2,1.2,5,15.5 MHEAD_RNG_PITCHd_Wd 16.4,2128,-17.1,-9.697,-20.82,2278,0.159

SPEED_LIMITS 0.168,0.255 D_GRID 165

TGT_NAME N IRON 1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.284180,-1341.481079,-215.504608

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,1,20220525070220.528431,06,316,18,0224,0150,141,01,01,01,01,-1,-01,-01,1,3,2196,0,150,23.3,0.53,-100,2.47,-01,-1.31,57,10000,5000,0,-1,00,00*77 FG_AHR_10Vo 19.674

FREEZE 3.31,13.563,-1.454,0,1,0 MEM0 60132,1,0,0

SM_CCo 4208.13,178.44,0.881,0,500.4,572.6,428.2,622.46 MEM1 65508,1,0,0

SM_GC 1.45,0.00,12.18,0.10,0.000,0.077,0.136,497.5,573.1,422.0,199.8,2114.8,0,0,0,30.00,15.58,15.59 MEM2 944680,29,102068,62

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16136,572

IRIDIUM_FIX 4736.00,-12258.89,250522,055547 CAP_FILE_SIZE 371304,0

TCM_TEMP 12.97 SDSIZE 3887104,3869728

SC_FREEKB 3877184 SDFILEDIR 90,1

RAFOS_CLK -5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 SOUNDSPEED 1465.0

HUMID 48.74 CURRENT 0.007,291.8,1

TEMP 10.66 MAGCAL 1.000000,0.016169,0.059645,-0.000505,1.080836,-0.059728,-0.006817,-0.049891,1.078700,411.7,-1311.3,-255.1,32,0.0268,1

INTERNAL_PRESSURE 8.10506 IMPLIED_C_PITCH 1753,18.37,305,1751.1,18.57

_24V_AH 14.96,8.554 IMPLIED_C_VBD 3018,31.396299,305,3028.0

_10V_AH 15.00,0.000 GPS 250522,080925,4736.299,-12256.878,31,1.1,32,15.5

FG_AHR_24Vo 28.748

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 694 1079 11206.69 nil 0 0 0.00

Pitch_motor 29 290 128.08 nil 0 0 0.00

Roll_motor 63 169 160.73 nil 0 0 0.00

Iridium 116 186 325.06 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.20 nil 0 0 0.00

Core 2360 5 181.28 SciCon 4026 6 412.10

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1931 0 9.27

Compass 1164 5 87.33

RAFOS 0 0 0.00

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

6.54 16386 -146.63 -1.09 0.00 493.4 571.8 414.9 198.9 2104.8 0.00 0.00 0 81.45 71.36 0.00 0.00 0.005 0.000 0.000 2192.72 2153.44 2232.00 198.38 2105.31 0 0 0 15.89 30.00 30.00

81.76 18727 -146.63 -1.09 80.00 2191.2 2152.0 2230.5 198.4 2105.1 3.06 -2.70 14 148.21 43.24 10.60 3.66 0.005 0.290 0.105 3635.75 3628.56 3642.94 1483.81 3619.44 0 0 0 15.92 15.74 15.86

151.72 3237 -146.63 -0.69 0.00 3635.3 3628.2 3642.4 1484.3 3619.3 8.35 -7.07 27 158.75 0.00 0.69 3.40 0.000 0.186 0.046 3635.47 3628.75 3642.19 1580.94 2112.81 0 0 0 30.00 15.81 15.88

343.60 4773 -146.63 -0.81 -80.00 3636.7 3632.0 3641.4 1581.6 2112.2 21.40 -6.26 65 350.44 0.00 0.28 3.47 0.000 0.091 0.108 3636.88 3632.19 3641.56 1540.81 682.38 0 0 0 30.00 15.91 15.91

578.94 1060 -146.63 -0.81 0.00 3636.8 3634.0 3639.7 1540.8 682.1 41.26 -8.41 112 585.62 0.00 0.00 3.39 0.000 0.000 0.047 3637.09 3633.62 3640.56 1541.38 2176.88 0 0 0 30.00 30.00 16.01

774.12 160 -146.63 -0.84 0.00 3636.8 3634.1 3639.5 1541.1 2176.9 55.23 -7.18 144 775.69 0.00 0.00 0.00 0.000 0.000 0.000 3636.12 3633.69 3638.56 1540.88 2177.25 0 0 0 30.00 30.00 30.00

958.06 292 -146.63 -0.84 80.00 3636.8 3634.2 3639.2 1541.3 2176.6 69.28 -7.67 163 964.01 0.00 0.00 3.46 0.000 0.000 0.106 3636.94 3634.38 3639.50 1540.88 3619.44 0 0 0 30.00 30.00 16.04

992.32 1060 -146.63 -0.84 0.00 3636.8 3634.1 3639.4 1541.5 3618.2 72.36 -8.33 170 999.74 0.00 0.00 3.39 0.000 0.000 0.045 3637.69 3635.00 3640.38 1541.06 2115.75 0 0 0 30.00 30.00 16.08

1188.18 160 -146.63 -0.87 0.00 3636.5 3634.5 3638.6 1540.8 2115.4 88.07 -8.05 190 1189.74 0.00 0.00 0.00 0.000 0.000 0.000 3636.22 3633.81 3638.62 1541.44 2115.25 0 0 0 30.00 30.00 30.00

1378.21 160 -146.63 -0.91 0.00 3637.4 3635.4 3639.4 1540.8 2114.4 103.14 -7.85 209 1379.78 0.00 0.00 0.00 0.000 0.000 0.000 3636.41 3634.25 3638.56 1540.69 2114.81 0 0 0 30.00 30.00 30.00

1568.22 420 -146.63 -0.95 80.00 3637.0 3635.1 3638.9 1541.1 2114.4 118.48 -8.18 228 1575.26 0.00 0.00 3.61 0.000 0.000 0.105 3636.44 3634.31 3638.56 1540.81 3617.31 0 0 0 30.00 30.00 16.10

1643.70 1060 -146.63 -0.95 0.00 3637.3 3635.2 3639.3 1541.3 3617.6 125.63 -9.64 243 1649.64 0.00 0.00 3.38 0.000 0.000 0.048 3636.84 3633.94 3639.75 1541.19 2116.56 0 0 0 30.00 30.00 16.13

1833.83 4257 -146.63 -1.00 0.00 3637.2 3634.8 3639.6 1540.9 2116.2 141.62 -8.52 263 1835.63 0.00 0.24 0.00 0.000 0.095 0.000 3638.44 3635.81 3641.06 1493.00 2115.69 0 0 0 30.00 16.14 30.00

2018 end dive: TARGET_DEPTH_EXCEEDED

state 2018 begin apogee

2019.07 10243 0.00 -0.27 0.00 3637.1 3634.8 3639.5 1493.6 2184.2 160.70 -10.65 282 2139.08 110.74 1.40 0.11 1.079 0.159 0.170 3036.00 3091.06 2980.94 1685.00 2109.62 0 0 0 11.81 16.12 15.76

2140 end apogee: CONTROL_FINISHED_OK

state 2140 begin climb

2140.15 10759 146.63 1.09 -80.00 3036.3 3089.5 2983.1 1685.4 2108.9 164.30 0.00 293 2269.20 114.29 2.27 3.59 1.043 0.117 0.113 2437.41 2504.31 2370.50 2015.62 681.06 0 0 0 11.90 15.74 15.52

2297.68 5253 146.63 0.89 0.00 2436.9 2501.9 2371.9 2015.1 681.2 152.39 11.86 322 2304.99 0.00 0.47 3.47 0.000 0.187 0.047 2435.38 2500.50 2370.25 1958.31 2174.56 0 0 0 30.00 15.59 15.64

2492.67 8486 157.99 0.90 80.00 2433.7 2495.6 2371.8 1958.9 2174.5 134.02 9.19 342 2510.35 10.56 0.00 3.55 0.877 0.000 0.111 2391.19 2456.62 2325.75 1958.19 3616.50 0 0 0 11.70 30.00 15.76

2548.83 1156 157.99 0.85 0.00 2391.2 2455.1 2327.2 1958.3 3616.0 128.15 10.90 353 2554.79 0.00 0.00 3.44 0.000 0.000 0.046 2393.28 2457.06 2329.50 1958.06 2119.69 0 0 0 30.00 30.00 15.83

2737.82 8354 176.65 0.91 0.00 2390.5 2454.1 2326.9 1958.9 2119.6 110.85 8.86 373 2758.62 16.85 0.00 0.00 0.949 0.000 0.000 2317.16 2386.81 2247.50 1958.50 2119.62 0 0 0 11.85 30.00 30.00

2947.89 10663 199.08 0.99 80.00 2314.2 2380.8 2247.8 1958.6 2119.4 92.29 8.69 394 2975.28 19.53 0.23 3.67 0.950 0.087 0.111 2225.69 2298.38 2153.00 1996.00 3617.56 0 0 0 11.88 15.93 15.86

3018.76 5253 199.08 0.90 0.00 2223.2 2294.6 2151.9 1997.0 3617.1 84.18 12.53 408 3025.97 0.00 0.29 3.44 0.000 0.179 0.048 2225.41 2296.44 2154.38 1961.81 2117.25 0 0 0 30.00 15.84 15.92

3207.82 10403 220.49 1.01 0.00 2222.7 2293.6 2151.8 1960.7 2117.3 66.92 8.74 428 3228.85 18.43 0.25 0.00 0.933 0.087 0.000 2139.12 2215.94 2062.31 1999.88 2116.12 0 0 0 11.80 15.97 30.00

3412.69 260 220.49 1.01 80.00 2135.5 2209.9 2061.1 1999.9 2115.8 44.41 11.29 453 3419.56 0.00 0.00 3.65 0.000 0.000 0.109 2136.69 2211.00 2062.38 2001.31 3618.19 0 0 0 30.00 30.00 15.95

3493.05 1156 220.49 0.96 0.00 2134.0 2207.0 2061.1 2000.7 3617.3 34.15 13.15 469 3499.72 0.00 0.00 3.42 0.000 0.000 0.048 2135.06 2207.75 2062.38 2000.69 2116.88 0 0 0 30.00 30.00 16.00

3683.30 8870 233.91 1.01 -80.00 2133.8 2206.6 2060.9 2000.5 2116.9 14.74 9.09 507 3706.00 12.19 0.00 3.49 0.854 0.000 0.114 2085.62 2162.56 2008.69 2000.81 681.81 0 0 0 11.79 30.00 15.97

3724.55 1156 233.91 1.04 0.00 2083.0 2159.5 2006.5 2000.8 682.1 10.74 9.75 515 3731.41 0.00 0.00 3.42 0.000 0.000 0.048 2083.81 2160.56 2007.06 2000.69 2177.62 0 0 0 30.00 30.00 16.01

3913.05 10403 399.24 1.43 0.00 2081.7 2157.2 2006.1 2000.6 2177.4 3.78 2.27 553 4017.69 98.50 0.60 0.00 0.926 0.075 0.000 1535.50 1646.25 1424.75 2102.75 2177.38 0 0 0 11.84 16.02 30.00

4018 end climb: NO_VERTICAL_VELOCITY

state 4018 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	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	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	3038.1509	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	1749.4636	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	18.776474	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.655455	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	28.58242	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	250522,065259,4735.951,-12257.122,8,1.6,14,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,065602,4735.962,-12257.132,2,1.2,5,15.5	MHEAD_RNG_PITCHd_Wd	16.4,2128,-17.1,-9.697,-20.82,2278,0.159
SPEED_LIMITS	0.168,0.255	D_GRID	165
TGT_NAME	N	IRON	1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.284180,-1341.481079,-215.504608
TGT_LATLONG	4737.000,-12256.400

NET	CACST,8,1,20220525070220.528431,06,316,18,0224,0150,141,01,01,01,01,-1,-01,-01,1,3,2196,0,150,23.3,0.53,-100,2.47,-01,-1.31,57,10000,5000,0,-1,00,00*77	FG_AHR_10Vo	19.674
FREEZE	3.31,13.563,-1.454,0,1,0	MEM0	60132,1,0,0
SM_CCo	4208.13,178.44,0.881,0,500.4,572.6,428.2,622.46	MEM1	65508,1,0,0
SM_GC	1.45,0.00,12.18,0.10,0.000,0.077,0.136,497.5,573.1,422.0,199.8,2114.8,0,0,0,30.00,15.58,15.59	MEM2	944680,29,102068,62
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16136,572
IRIDIUM_FIX	4736.00,-12258.89,250522,055547	CAP_FILE_SIZE	371304,0
TCM_TEMP	12.97	SDSIZE	3887104,3869728
SC_FREEKB	3877184	SDFILEDIR	90,1
RAFOS_CLK	-5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	SOUNDSPEED	1465.0
HUMID	48.74	CURRENT	0.007,291.8,1
TEMP	10.66	MAGCAL	1.000000,0.016169,0.059645,-0.000505,1.080836,-0.059728,-0.006817,-0.049891,1.078700,411.7,-1311.3,-255.1,32,0.0268,1
INTERNAL_PRESSURE	8.10506	IMPLIED_C_PITCH	1753,18.37,305,1751.1,18.57
_24V_AH	14.96,8.554	IMPLIED_C_VBD	3018,31.396299,305,3028.0
_10V_AH	15.00,0.000	GPS	250522,080925,4736.299,-12256.878,31,1.1,32,15.5
FG_AHR_24Vo	28.748

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	694	1079	11206.69	nil	0	0	0.00
Pitch_motor	29	290	128.08	nil	0	0	0.00
Roll_motor	63	169	160.73	nil	0	0	0.00
Iridium	116	186	325.06	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.20	nil	0	0	0.00
Core	2360	5	181.28	SciCon	4026	6	412.10
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1931	0	9.27
Compass	1164	5	87.33
RAFOS	0	0	0.00
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
6.54	16386	-146.63	-1.09	0.00	493.4	571.8	414.9	198.9	2104.8	0.00	0.00	0	81.45	71.36	0.00	0.00	0.005	0.000	0.000	2192.72	2153.44	2232.00	198.38	2105.31	0	0	0	15.89	30.00	30.00
81.76	18727	-146.63	-1.09	80.00	2191.2	2152.0	2230.5	198.4	2105.1	3.06	-2.70	14	148.21	43.24	10.60	3.66	0.005	0.290	0.105	3635.75	3628.56	3642.94	1483.81	3619.44	0	0	0	15.92	15.74	15.86
151.72	3237	-146.63	-0.69	0.00	3635.3	3628.2	3642.4	1484.3	3619.3	8.35	-7.07	27	158.75	0.00	0.69	3.40	0.000	0.186	0.046	3635.47	3628.75	3642.19	1580.94	2112.81	0	0	0	30.00	15.81	15.88
343.60	4773	-146.63	-0.81	-80.00	3636.7	3632.0	3641.4	1581.6	2112.2	21.40	-6.26	65	350.44	0.00	0.28	3.47	0.000	0.091	0.108	3636.88	3632.19	3641.56	1540.81	682.38	0	0	0	30.00	15.91	15.91
578.94	1060	-146.63	-0.81	0.00	3636.8	3634.0	3639.7	1540.8	682.1	41.26	-8.41	112	585.62	0.00	0.00	3.39	0.000	0.000	0.047	3637.09	3633.62	3640.56	1541.38	2176.88	0	0	0	30.00	30.00	16.01
774.12	160	-146.63	-0.84	0.00	3636.8	3634.1	3639.5	1541.1	2176.9	55.23	-7.18	144	775.69	0.00	0.00	0.00	0.000	0.000	0.000	3636.12	3633.69	3638.56	1540.88	2177.25	0	0	0	30.00	30.00	30.00
958.06	292	-146.63	-0.84	80.00	3636.8	3634.2	3639.2	1541.3	2176.6	69.28	-7.67	163	964.01	0.00	0.00	3.46	0.000	0.000	0.106	3636.94	3634.38	3639.50	1540.88	3619.44	0	0	0	30.00	30.00	16.04
992.32	1060	-146.63	-0.84	0.00	3636.8	3634.1	3639.4	1541.5	3618.2	72.36	-8.33	170	999.74	0.00	0.00	3.39	0.000	0.000	0.045	3637.69	3635.00	3640.38	1541.06	2115.75	0	0	0	30.00	30.00	16.08
1188.18	160	-146.63	-0.87	0.00	3636.5	3634.5	3638.6	1540.8	2115.4	88.07	-8.05	190	1189.74	0.00	0.00	0.00	0.000	0.000	0.000	3636.22	3633.81	3638.62	1541.44	2115.25	0	0	0	30.00	30.00	30.00
1378.21	160	-146.63	-0.91	0.00	3637.4	3635.4	3639.4	1540.8	2114.4	103.14	-7.85	209	1379.78	0.00	0.00	0.00	0.000	0.000	0.000	3636.41	3634.25	3638.56	1540.69	2114.81	0	0	0	30.00	30.00	30.00
1568.22	420	-146.63	-0.95	80.00	3637.0	3635.1	3638.9	1541.1	2114.4	118.48	-8.18	228	1575.26	0.00	0.00	3.61	0.000	0.000	0.105	3636.44	3634.31	3638.56	1540.81	3617.31	0	0	0	30.00	30.00	16.10
1643.70	1060	-146.63	-0.95	0.00	3637.3	3635.2	3639.3	1541.3	3617.6	125.63	-9.64	243	1649.64	0.00	0.00	3.38	0.000	0.000	0.048	3636.84	3633.94	3639.75	1541.19	2116.56	0	0	0	30.00	30.00	16.13
1833.83	4257	-146.63	-1.00	0.00	3637.2	3634.8	3639.6	1540.9	2116.2	141.62	-8.52	263	1835.63	0.00	0.24	0.00	0.000	0.095	0.000	3638.44	3635.81	3641.06	1493.00	2115.69	0	0	0	30.00	16.14	30.00
2018	end dive: TARGET_DEPTH_EXCEEDED
state	2018	begin apogee
2019.07	10243	0.00	-0.27	0.00	3637.1	3634.8	3639.5	1493.6	2184.2	160.70	-10.65	282	2139.08	110.74	1.40	0.11	1.079	0.159	0.170	3036.00	3091.06	2980.94	1685.00	2109.62	0	0	0	11.81	16.12	15.76
2140	end apogee: CONTROL_FINISHED_OK
state	2140	begin climb
2140.15	10759	146.63	1.09	-80.00	3036.3	3089.5	2983.1	1685.4	2108.9	164.30	0.00	293	2269.20	114.29	2.27	3.59	1.043	0.117	0.113	2437.41	2504.31	2370.50	2015.62	681.06	0	0	0	11.90	15.74	15.52
2297.68	5253	146.63	0.89	0.00	2436.9	2501.9	2371.9	2015.1	681.2	152.39	11.86	322	2304.99	0.00	0.47	3.47	0.000	0.187	0.047	2435.38	2500.50	2370.25	1958.31	2174.56	0	0	0	30.00	15.59	15.64
2492.67	8486	157.99	0.90	80.00	2433.7	2495.6	2371.8	1958.9	2174.5	134.02	9.19	342	2510.35	10.56	0.00	3.55	0.877	0.000	0.111	2391.19	2456.62	2325.75	1958.19	3616.50	0	0	0	11.70	30.00	15.76
2548.83	1156	157.99	0.85	0.00	2391.2	2455.1	2327.2	1958.3	3616.0	128.15	10.90	353	2554.79	0.00	0.00	3.44	0.000	0.000	0.046	2393.28	2457.06	2329.50	1958.06	2119.69	0	0	0	30.00	30.00	15.83
2737.82	8354	176.65	0.91	0.00	2390.5	2454.1	2326.9	1958.9	2119.6	110.85	8.86	373	2758.62	16.85	0.00	0.00	0.949	0.000	0.000	2317.16	2386.81	2247.50	1958.50	2119.62	0	0	0	11.85	30.00	30.00
2947.89	10663	199.08	0.99	80.00	2314.2	2380.8	2247.8	1958.6	2119.4	92.29	8.69	394	2975.28	19.53	0.23	3.67	0.950	0.087	0.111	2225.69	2298.38	2153.00	1996.00	3617.56	0	0	0	11.88	15.93	15.86
3018.76	5253	199.08	0.90	0.00	2223.2	2294.6	2151.9	1997.0	3617.1	84.18	12.53	408	3025.97	0.00	0.29	3.44	0.000	0.179	0.048	2225.41	2296.44	2154.38	1961.81	2117.25	0	0	0	30.00	15.84	15.92
3207.82	10403	220.49	1.01	0.00	2222.7	2293.6	2151.8	1960.7	2117.3	66.92	8.74	428	3228.85	18.43	0.25	0.00	0.933	0.087	0.000	2139.12	2215.94	2062.31	1999.88	2116.12	0	0	0	11.80	15.97	30.00
3412.69	260	220.49	1.01	80.00	2135.5	2209.9	2061.1	1999.9	2115.8	44.41	11.29	453	3419.56	0.00	0.00	3.65	0.000	0.000	0.109	2136.69	2211.00	2062.38	2001.31	3618.19	0	0	0	30.00	30.00	15.95
3493.05	1156	220.49	0.96	0.00	2134.0	2207.0	2061.1	2000.7	3617.3	34.15	13.15	469	3499.72	0.00	0.00	3.42	0.000	0.000	0.048	2135.06	2207.75	2062.38	2000.69	2116.88	0	0	0	30.00	30.00	16.00
3683.30	8870	233.91	1.01	-80.00	2133.8	2206.6	2060.9	2000.5	2116.9	14.74	9.09	507	3706.00	12.19	0.00	3.49	0.854	0.000	0.114	2085.62	2162.56	2008.69	2000.81	681.81	0	0	0	11.79	30.00	15.97
3724.55	1156	233.91	1.04	0.00	2083.0	2159.5	2006.5	2000.8	682.1	10.74	9.75	515	3731.41	0.00	0.00	3.42	0.000	0.000	0.048	2083.81	2160.56	2007.06	2000.69	2177.62	0	0	0	30.00	30.00	16.01
3913.05	10403	399.24	1.43	0.00	2081.7	2157.2	2006.1	2000.6	2177.4	3.78	2.27	553	4017.69	98.50	0.60	0.00	0.926	0.075	0.000	1535.50	1646.25	1424.75	2102.75	2177.38	0	0	0	11.84	16.02	30.00
4018	end climb: NO_VERTICAL_VELOCITY
state	4018	begin surface