Glider dive log

HoodCanal 24May22 * SG240 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 6 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 6 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 -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3011.5564 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 66

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 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1803.5492 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 17.586018 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.128744 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 5.521739 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 -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 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 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 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 6 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 15.128744 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.521739 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 17.586018 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 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 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 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1803.5492 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 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 3011.5564 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 72626 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 6 MISSION 3 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 240522,222600,4736.937,-12256.359,1,1.0,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 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 240522,222911,4736.963,-12256.312,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 196.7,1980,-17.1,-9.697,-20.82,2278,0.122

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.045029,-890.596313,-433.708221

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653435582,0.2,1,stop _10V_AH 15.00,0.000

MODEM_MSG CACST,8,1,20220524233203.385486,18,5926,25,0352,0000,246,01,01,02,02,-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*18 FG_AHR_24Vo 5.676

NET xm1t part outbox0004.n 964 12 FG_AHR_10Vo 15.163

NET_PING 1653434894,28,1035.713989,15.800000,-1.369719 MEM0 60132,1,0,0

FREEZE 2.95,13.901,-1.455,0,1,0 MEM1 65508,1,0,0

SM_CCo 4088.32,213.13,0.923,0,500.7,526.9,474.4,615.79 MEM2 944360,35,102208,65

SM_GC 1.72,0.00,12.23,0.09,0.000,0.064,0.144,497.9,524.5,471.4,193.9,2119.6,0,0,0,30.00,15.55,15.55 DATA_FILE_SIZE 16152,553

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 391299,0

IRIDIUM_FIX 4736.87,-12256.21,240522,211515 SDSIZE 3887104,3872000

TCM_TEMP 17.64 SDFILEDIR 93,1

SC_FREEKB 3876864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 2,1653431523,47.61200,-122.96660,123.429,180823.2 CURRENT 0.084, 41.8,1

RAFOS_FIX 4648.198730,-12257.996094,240522,222203,2,510,74416.19 MAGCAL 1.000000,-0.000438,0.059551,-0.002454,1.082031,-0.058340,-0.019791,-0.060832,1.088112,42.4,-855.8,-519.9,31,0.0381,0

HUMID 49.17 IMPLIED_C_PITCH 1796,18.03,301,1799.6,17.81

TEMP 10.33 IMPLIED_C_VBD 3026,22.840086,301,3018.7

INTERNAL_PRESSURE 7.98759 GPS 240522,234032,4736.734,-12256.479,28,1.0,29,15.5

_24V_AH 15.04,6.663

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1136 10815.58 nil 0 0 0.00

Pitch_motor 28 252 109.19 nil 0 0 0.00

Roll_motor 79 208 249.96 nil 0 0 0.00

Iridium 124 214 400.36 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2408 5 185.01 SciCon 3872 6 379.49

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1736 0 8.34

Compass 1123 5 84.29

RAFOS 1449 40 869.73

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

6.59 16386 -146.63 -1.15 0.00 496.3 511.8 480.8 197.2 2127.2 0.00 0.00 0 77.50 67.53 0.00 0.00 0.005 0.000 0.000 2429.72 2468.44 2391.00 197.19 2127.25 0 0 0 15.86 30.00 30.00

77.80 18727 -146.63 -1.15 80.00 2427.7 2465.7 2389.8 197.3 2126.9 3.32 -1.86 11 133.41 30.47 10.22 3.73 0.005 0.253 0.125 3607.75 3662.56 3552.94 1522.62 3618.62 0 0 0 15.88 15.73 15.80

136.93 3237 -146.63 -0.90 0.00 3607.4 3662.5 3552.3 1522.8 3618.8 8.81 -8.80 22 144.04 0.00 0.43 3.53 0.000 0.192 0.053 3607.25 3661.44 3553.06 1585.12 2117.44 0 0 0 30.00 15.78 15.85

327.47 292 -146.63 -0.90 80.00 3608.6 3663.4 3553.8 1585.4 2117.5 24.25 -7.28 60 335.34 0.00 0.00 3.73 0.000 0.000 0.122 3610.69 3665.19 3556.19 1585.19 3617.06 0 0 0 30.00 30.00 15.87

403.79 1060 -146.63 -0.90 0.00 3609.5 3663.2 3555.8 1585.1 3617.0 30.90 -9.07 75 410.63 0.00 0.00 3.49 0.000 0.000 0.054 3610.47 3664.38 3556.56 1584.88 2121.00 0 0 0 30.00 30.00 15.93

593.60 676 -146.63 -0.95 -80.00 3609.7 3663.9 3555.4 1585.1 2121.1 44.58 -7.16 112 600.34 0.00 0.00 3.66 0.000 0.000 0.122 3611.41 3664.75 3558.06 1585.38 683.12 0 0 0 30.00 30.00 15.94

658.88 1060 -146.63 -0.95 0.00 3609.4 3663.2 3555.6 1585.1 682.6 50.17 -8.75 125 665.49 0.00 0.00 3.43 0.000 0.000 0.057 3610.94 3663.81 3558.06 1585.19 2172.94 0 0 0 30.00 30.00 16.00

853.87 160 -146.63 -1.00 0.00 3609.8 3663.8 3555.8 1585.2 2172.8 64.58 -7.37 145 855.44 0.00 0.00 0.00 0.000 0.000 0.000 3609.38 3663.62 3555.12 1585.44 2172.94 0 0 0 30.00 30.00 30.00

1043.89 4257 -146.63 -1.04 0.00 3609.8 3663.6 3556.1 1585.3 2173.2 78.28 -7.25 164 1045.70 0.00 0.29 0.00 0.000 0.076 0.000 3609.62 3663.31 3555.94 1536.19 2172.81 0 0 0 30.00 16.06 30.00

1228.85 2177 -146.63 -0.98 0.00 3610.5 3663.9 3557.1 1536.1 2173.1 95.87 -10.05 183 1230.66 0.00 0.27 0.00 0.000 0.174 0.000 3609.03 3662.19 3555.88 1567.19 2172.62 0 0 0 30.00 16.04 30.00

1418.82 32 -146.63 -0.98 0.00 3610.5 3664.0 3556.9 1567.1 2172.7 113.24 -9.16 202 1420.40 0.00 0.00 0.00 0.000 0.000 0.000 3609.62 3662.56 3556.69 1566.50 2172.50 0 0 0 30.00 30.00 30.00

1608.83 548 -146.63 -0.98 -80.00 3610.3 3663.8 3556.9 1566.9 2172.9 130.80 -9.04 221 1616.05 0.00 0.00 3.81 0.000 0.000 0.122 3610.12 3662.88 3557.38 1565.81 681.56 0 0 0 30.00 30.00 16.07

1648.80 1156 -146.63 -0.93 0.00 3610.1 3663.6 3556.6 1566.3 681.9 135.00 -10.56 229 1656.17 0.00 0.00 3.40 0.000 0.000 0.058 3611.88 3665.62 3558.12 1566.81 2171.31 0 0 0 30.00 30.00 16.12

1839.35 292 -146.63 -0.93 80.00 3610.5 3663.4 3557.6 1566.2 2171.1 152.76 -9.28 248 1845.40 0.00 0.00 3.59 0.000 0.000 0.129 3609.44 3662.31 3556.56 1566.88 3617.75 0 0 0 30.00 30.00 16.06

1863.58 1028 -146.63 -0.93 0.00 3610.8 3663.8 3557.9 1566.6 3618.0 155.30 -9.74 253 1871.10 0.00 0.00 3.48 0.000 0.000 0.056 3611.97 3664.75 3559.19 1566.88 2123.06 0 0 0 30.00 30.00 16.10

1919 end dive: TARGET_DEPTH_EXCEEDED

state 1919 begin apogee

1920.66 10243 0.00 -0.28 0.00 3610.3 3663.4 3557.2 1566.5 2176.2 160.54 -9.41 259 2030.36 102.52 1.12 0.09 1.137 0.146 0.208 3007.91 3063.75 2952.06 1735.19 2120.75 0 0 0 11.98 16.04 15.72

2031 end apogee: CONTROL_FINISHED_OK

state 2031 begin climb

2031.50 10503 146.63 1.15 80.00 3008.2 3064.7 2951.8 1735.2 2120.6 164.37 0.00 269 2155.03 105.29 2.36 3.83 1.101 0.118 0.126 2411.41 2478.81 2344.00 2084.44 3614.75 0 0 0 11.87 15.72 15.48

2157.88 5253 146.63 1.00 0.00 2410.9 2478.1 2343.8 2083.4 3615.1 155.48 11.06 292 2165.49 0.00 0.37 3.57 0.000 0.183 0.054 2410.62 2478.31 2342.94 2039.12 2123.44 0 0 0 30.00 15.49 15.54

2353.36 516 146.63 1.00 -80.00 2406.6 2477.9 2335.2 2037.7 2123.2 135.17 10.56 312 2359.91 0.00 0.00 3.76 0.000 0.000 0.126 2404.53 2476.38 2332.69 2038.00 682.81 0 0 0 30.00 30.00 15.71

2437.80 17542 146.63 0.87 0.00 2403.7 2475.2 2332.1 2038.2 683.4 124.22 13.22 329 2445.22 0.00 0.00 3.47 0.000 0.000 0.060 2404.84 2476.06 2333.62 2038.81 2169.00 0 0 0 30.00 30.00 15.82

2633.47 20999 146.63 0.87 -80.00 2403.2 2475.2 2331.2 2038.6 2169.2 102.89 10.48 349 2640.92 0.00 0.20 3.81 0.000 0.178 0.124 2401.66 2473.50 2329.81 2007.06 683.12 0 0 0 30.00 15.86 15.88

2673.58 17414 146.63 0.87 0.00 2403.0 2475.5 2330.4 2007.5 683.1 98.53 10.72 357 2681.09 0.00 0.00 3.45 0.000 0.000 0.059 2403.59 2476.12 2331.06 2007.19 2171.81 0 0 0 30.00 30.00 15.92

2869.48 10919 171.81 0.97 -80.00 2402.4 2474.9 2329.9 2007.3 2171.8 81.56 8.57 377 2896.87 19.44 0.23 3.84 0.977 0.081 0.124 2308.03 2381.81 2234.25 2048.00 683.44 0 0 0 11.92 15.97 15.88

2933.66 1156 171.81 0.93 0.00 2305.6 2380.2 2231.1 2048.5 683.1 74.26 12.45 389 2945.25 0.00 0.00 3.44 0.000 0.000 0.060 2308.56 2383.25 2233.88 2046.12 2170.38 0 0 0 30.00 30.00 15.91

3129.56 516 171.81 0.93 -80.00 2304.7 2380.2 2229.2 2048.5 2170.1 52.76 10.53 410 3136.85 0.00 0.00 3.81 0.000 0.000 0.124 2304.06 2379.94 2228.19 2048.69 682.75 0 0 0 30.00 30.00 15.94

3190.34 5253 171.81 0.82 0.00 2304.2 2380.2 2228.1 2048.2 683.0 45.10 13.08 422 3197.28 0.00 0.40 3.42 0.000 0.159 0.060 2304.50 2380.81 2228.19 1994.38 2168.81 0 0 0 30.00 15.94 15.99

3380.77 10919 224.53 1.01 -80.00 2303.7 2379.8 2227.6 1994.7 2168.4 29.99 7.33 460 3429.96 39.02 0.38 3.86 0.972 0.072 0.125 2094.38 2174.50 2014.25 2058.00 684.19 0 0 0 11.95 16.04 15.86

3473.43 1156 224.53 0.96 0.00 2090.2 2171.0 2009.5 2057.1 684.1 19.99 12.79 478 3480.12 0.00 0.00 3.44 0.000 0.000 0.060 2090.06 2171.19 2008.94 2057.44 2169.19 0 0 0 30.00 30.00 15.93

3661.12 10403 302.95 1.20 0.00 2088.0 2171.4 2004.6 2057.7 2169.0 4.01 6.17 513 3720.07 55.31 0.22 0.00 0.941 0.097 0.000 1773.53 1865.12 1681.94 2100.50 2169.38 0 0 0 11.93 15.95 30.00

3864 end climb: NO_VERTICAL_VELOCITY

state 3864 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	6	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	6	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	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3011.5564	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	66
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	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1803.5492	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	17.586018	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.128744	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	5.521739	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	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	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	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	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	240522,222600,4736.937,-12256.359,1,1.0,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	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	240522,222911,4736.963,-12256.312,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	196.7,1980,-17.1,-9.697,-20.82,2278,0.122
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.045029,-890.596313,-433.708221
TGT_LATLONG	4736.000,-12257.000

NAV	1653435582,0.2,1,stop	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,1,20220524233203.385486,18,5926,25,0352,0000,246,01,01,02,02,-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*18	FG_AHR_24Vo	5.676
NET	xm1t part outbox0004.n 964 12	FG_AHR_10Vo	15.163
NET_PING	1653434894,28,1035.713989,15.800000,-1.369719	MEM0	60132,1,0,0
FREEZE	2.95,13.901,-1.455,0,1,0	MEM1	65508,1,0,0
SM_CCo	4088.32,213.13,0.923,0,500.7,526.9,474.4,615.79	MEM2	944360,35,102208,65
SM_GC	1.72,0.00,12.23,0.09,0.000,0.064,0.144,497.9,524.5,471.4,193.9,2119.6,0,0,0,30.00,15.55,15.55	DATA_FILE_SIZE	16152,553
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	391299,0
IRIDIUM_FIX	4736.87,-12256.21,240522,211515	SDSIZE	3887104,3872000
TCM_TEMP	17.64	SDFILEDIR	93,1
SC_FREEKB	3876864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	2,1653431523,47.61200,-122.96660,123.429,180823.2	CURRENT	0.084, 41.8,1
RAFOS_FIX	4648.198730,-12257.996094,240522,222203,2,510,74416.19	MAGCAL	1.000000,-0.000438,0.059551,-0.002454,1.082031,-0.058340,-0.019791,-0.060832,1.088112,42.4,-855.8,-519.9,31,0.0381,0
HUMID	49.17	IMPLIED_C_PITCH	1796,18.03,301,1799.6,17.81
TEMP	10.33	IMPLIED_C_VBD	3026,22.840086,301,3018.7
INTERNAL_PRESSURE	7.98759	GPS	240522,234032,4736.734,-12256.479,28,1.0,29,15.5
_24V_AH	15.04,6.663

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1136	10815.58	nil	0	0	0.00
Pitch_motor	28	252	109.19	nil	0	0	0.00
Roll_motor	79	208	249.96	nil	0	0	0.00
Iridium	124	214	400.36	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2408	5	185.01	SciCon	3872	6	379.49
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1736	0	8.34
Compass	1123	5	84.29
RAFOS	1449	40	869.73
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
6.59	16386	-146.63	-1.15	0.00	496.3	511.8	480.8	197.2	2127.2	0.00	0.00	0	77.50	67.53	0.00	0.00	0.005	0.000	0.000	2429.72	2468.44	2391.00	197.19	2127.25	0	0	0	15.86	30.00	30.00
77.80	18727	-146.63	-1.15	80.00	2427.7	2465.7	2389.8	197.3	2126.9	3.32	-1.86	11	133.41	30.47	10.22	3.73	0.005	0.253	0.125	3607.75	3662.56	3552.94	1522.62	3618.62	0	0	0	15.88	15.73	15.80
136.93	3237	-146.63	-0.90	0.00	3607.4	3662.5	3552.3	1522.8	3618.8	8.81	-8.80	22	144.04	0.00	0.43	3.53	0.000	0.192	0.053	3607.25	3661.44	3553.06	1585.12	2117.44	0	0	0	30.00	15.78	15.85
327.47	292	-146.63	-0.90	80.00	3608.6	3663.4	3553.8	1585.4	2117.5	24.25	-7.28	60	335.34	0.00	0.00	3.73	0.000	0.000	0.122	3610.69	3665.19	3556.19	1585.19	3617.06	0	0	0	30.00	30.00	15.87
403.79	1060	-146.63	-0.90	0.00	3609.5	3663.2	3555.8	1585.1	3617.0	30.90	-9.07	75	410.63	0.00	0.00	3.49	0.000	0.000	0.054	3610.47	3664.38	3556.56	1584.88	2121.00	0	0	0	30.00	30.00	15.93
593.60	676	-146.63	-0.95	-80.00	3609.7	3663.9	3555.4	1585.1	2121.1	44.58	-7.16	112	600.34	0.00	0.00	3.66	0.000	0.000	0.122	3611.41	3664.75	3558.06	1585.38	683.12	0	0	0	30.00	30.00	15.94
658.88	1060	-146.63	-0.95	0.00	3609.4	3663.2	3555.6	1585.1	682.6	50.17	-8.75	125	665.49	0.00	0.00	3.43	0.000	0.000	0.057	3610.94	3663.81	3558.06	1585.19	2172.94	0	0	0	30.00	30.00	16.00
853.87	160	-146.63	-1.00	0.00	3609.8	3663.8	3555.8	1585.2	2172.8	64.58	-7.37	145	855.44	0.00	0.00	0.00	0.000	0.000	0.000	3609.38	3663.62	3555.12	1585.44	2172.94	0	0	0	30.00	30.00	30.00
1043.89	4257	-146.63	-1.04	0.00	3609.8	3663.6	3556.1	1585.3	2173.2	78.28	-7.25	164	1045.70	0.00	0.29	0.00	0.000	0.076	0.000	3609.62	3663.31	3555.94	1536.19	2172.81	0	0	0	30.00	16.06	30.00
1228.85	2177	-146.63	-0.98	0.00	3610.5	3663.9	3557.1	1536.1	2173.1	95.87	-10.05	183	1230.66	0.00	0.27	0.00	0.000	0.174	0.000	3609.03	3662.19	3555.88	1567.19	2172.62	0	0	0	30.00	16.04	30.00
1418.82	32	-146.63	-0.98	0.00	3610.5	3664.0	3556.9	1567.1	2172.7	113.24	-9.16	202	1420.40	0.00	0.00	0.00	0.000	0.000	0.000	3609.62	3662.56	3556.69	1566.50	2172.50	0	0	0	30.00	30.00	30.00
1608.83	548	-146.63	-0.98	-80.00	3610.3	3663.8	3556.9	1566.9	2172.9	130.80	-9.04	221	1616.05	0.00	0.00	3.81	0.000	0.000	0.122	3610.12	3662.88	3557.38	1565.81	681.56	0	0	0	30.00	30.00	16.07
1648.80	1156	-146.63	-0.93	0.00	3610.1	3663.6	3556.6	1566.3	681.9	135.00	-10.56	229	1656.17	0.00	0.00	3.40	0.000	0.000	0.058	3611.88	3665.62	3558.12	1566.81	2171.31	0	0	0	30.00	30.00	16.12
1839.35	292	-146.63	-0.93	80.00	3610.5	3663.4	3557.6	1566.2	2171.1	152.76	-9.28	248	1845.40	0.00	0.00	3.59	0.000	0.000	0.129	3609.44	3662.31	3556.56	1566.88	3617.75	0	0	0	30.00	30.00	16.06
1863.58	1028	-146.63	-0.93	0.00	3610.8	3663.8	3557.9	1566.6	3618.0	155.30	-9.74	253	1871.10	0.00	0.00	3.48	0.000	0.000	0.056	3611.97	3664.75	3559.19	1566.88	2123.06	0	0	0	30.00	30.00	16.10
1919	end dive: TARGET_DEPTH_EXCEEDED
state	1919	begin apogee
1920.66	10243	0.00	-0.28	0.00	3610.3	3663.4	3557.2	1566.5	2176.2	160.54	-9.41	259	2030.36	102.52	1.12	0.09	1.137	0.146	0.208	3007.91	3063.75	2952.06	1735.19	2120.75	0	0	0	11.98	16.04	15.72
2031	end apogee: CONTROL_FINISHED_OK
state	2031	begin climb
2031.50	10503	146.63	1.15	80.00	3008.2	3064.7	2951.8	1735.2	2120.6	164.37	0.00	269	2155.03	105.29	2.36	3.83	1.101	0.118	0.126	2411.41	2478.81	2344.00	2084.44	3614.75	0	0	0	11.87	15.72	15.48
2157.88	5253	146.63	1.00	0.00	2410.9	2478.1	2343.8	2083.4	3615.1	155.48	11.06	292	2165.49	0.00	0.37	3.57	0.000	0.183	0.054	2410.62	2478.31	2342.94	2039.12	2123.44	0	0	0	30.00	15.49	15.54
2353.36	516	146.63	1.00	-80.00	2406.6	2477.9	2335.2	2037.7	2123.2	135.17	10.56	312	2359.91	0.00	0.00	3.76	0.000	0.000	0.126	2404.53	2476.38	2332.69	2038.00	682.81	0	0	0	30.00	30.00	15.71
2437.80	17542	146.63	0.87	0.00	2403.7	2475.2	2332.1	2038.2	683.4	124.22	13.22	329	2445.22	0.00	0.00	3.47	0.000	0.000	0.060	2404.84	2476.06	2333.62	2038.81	2169.00	0	0	0	30.00	30.00	15.82
2633.47	20999	146.63	0.87	-80.00	2403.2	2475.2	2331.2	2038.6	2169.2	102.89	10.48	349	2640.92	0.00	0.20	3.81	0.000	0.178	0.124	2401.66	2473.50	2329.81	2007.06	683.12	0	0	0	30.00	15.86	15.88
2673.58	17414	146.63	0.87	0.00	2403.0	2475.5	2330.4	2007.5	683.1	98.53	10.72	357	2681.09	0.00	0.00	3.45	0.000	0.000	0.059	2403.59	2476.12	2331.06	2007.19	2171.81	0	0	0	30.00	30.00	15.92
2869.48	10919	171.81	0.97	-80.00	2402.4	2474.9	2329.9	2007.3	2171.8	81.56	8.57	377	2896.87	19.44	0.23	3.84	0.977	0.081	0.124	2308.03	2381.81	2234.25	2048.00	683.44	0	0	0	11.92	15.97	15.88
2933.66	1156	171.81	0.93	0.00	2305.6	2380.2	2231.1	2048.5	683.1	74.26	12.45	389	2945.25	0.00	0.00	3.44	0.000	0.000	0.060	2308.56	2383.25	2233.88	2046.12	2170.38	0	0	0	30.00	30.00	15.91
3129.56	516	171.81	0.93	-80.00	2304.7	2380.2	2229.2	2048.5	2170.1	52.76	10.53	410	3136.85	0.00	0.00	3.81	0.000	0.000	0.124	2304.06	2379.94	2228.19	2048.69	682.75	0	0	0	30.00	30.00	15.94
3190.34	5253	171.81	0.82	0.00	2304.2	2380.2	2228.1	2048.2	683.0	45.10	13.08	422	3197.28	0.00	0.40	3.42	0.000	0.159	0.060	2304.50	2380.81	2228.19	1994.38	2168.81	0	0	0	30.00	15.94	15.99
3380.77	10919	224.53	1.01	-80.00	2303.7	2379.8	2227.6	1994.7	2168.4	29.99	7.33	460	3429.96	39.02	0.38	3.86	0.972	0.072	0.125	2094.38	2174.50	2014.25	2058.00	684.19	0	0	0	11.95	16.04	15.86
3473.43	1156	224.53	0.96	0.00	2090.2	2171.0	2009.5	2057.1	684.1	19.99	12.79	478	3480.12	0.00	0.00	3.44	0.000	0.000	0.060	2090.06	2171.19	2008.94	2057.44	2169.19	0	0	0	30.00	30.00	15.93
3661.12	10403	302.95	1.20	0.00	2088.0	2171.4	2004.6	2057.7	2169.0	4.01	6.17	513	3720.07	55.31	0.22	0.00	0.941	0.097	0.000	1773.53	1865.12	1681.94	2100.50	2169.38	0	0	0	11.93	15.95	30.00
3864	end climb: NO_VERTICAL_VELOCITY
state	3864	begin surface