Glider dive log

HoodCanal 24May22 * SG241 * Dive index * Mission links * Dive 6 * 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 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 -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3018.2173 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 1750.7567 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 18.713223 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.495928 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 27.61167 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 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 19.495928 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.61167 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 18.713223 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 1750.7567 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 3018.2173 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 6 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 240522,223431,4737.027,-12256.482,18,1.1,30,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,223851,4737.058,-12256.416,3,0.8,5,15.5 MHEAD_RNG_PITCHd_Wd 190.2,2091,-17.1,-9.697,-20.82,2278,0.152

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.026596,0.042122,0.011621,1.105304,-0.030256,0.003727,-0.032755,1.018910,427.064667,-1334.949951,-202.483078

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653435317,55.1,1,stop _10V_AH 15.00,0.000

NET CACST,8,1,20220524234215.990638,06,8257,39,0095,0150,07,01,01,00,01,-1,-01,-01,1,3,2196,0,150,26.9,1.21,-100,1.79,-01,0.12,54,10000,5000,0,-1,00,00*58 FG_AHR_24Vo 27.778

NET_PING 1653435139,28,826.582520,11.400000,-1.090161 FG_AHR_10Vo 19.527

MODEM_MSG CACST,8,1,20220524233403.170724,18,16343,42,0205,0000,246,00,00,00,00,-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*23 MEM0 60132,1,0,0

FREEZE 3.19,13.281,-1.480,0,1,0 MEM1 65508,1,0,0

SM_CCo 4352.44,247.90,0.903,0,500.8,575.2,426.3,617.48 MEM2 944452,34,102136,65

SM_GC 1.32,0.00,11.69,3.46,0.000,0.081,0.048,497.2,575.2,419.2,202.3,2119.8,0,0,0,30.00,15.61,15.63 DATA_FILE_SIZE 16113,575

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 5667810,0

IRIDIUM_FIX 4736.87,-12256.21,240522,211932 SDSIZE 3887104,3865888

TCM_TEMP 13.31 SDFILEDIR 94,1

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

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 1,1653433501,47.50000,-123.50000,1.397,2045.9 CURRENT 0.077, 40.3,1

RAFOS_FIX 4733.179199,-12314.931641,240522,232303,2,510,3460.57 MAGCAL 1.000000,0.016389,0.034676,0.005094,1.056893,-0.036068,0.028692,-0.049330,0.923420,428.5,-1322.6,-110.5,30,0.0328,0

HUMID 48.74 IMPLIED_C_PITCH 1747,18.39,307,1748.7,18.55

TEMP 10.85 IMPLIED_C_VBD 3048,33.038612,307,3032.9

INTERNAL_PRESSURE 8.11552 GPS 240522,235432,4736.794,-12256.494,8,1.5,10,15.5

_24V_AH 15.00,7.528

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 1082 11046.25 nil 0 0 0.00

Pitch_motor 27 302 125.96 nil 0 0 0.00

Roll_motor 77 180 209.13 nil 0 0 0.00

Iridium 134 211 427.01 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 2990 5 229.66 SciCon 4093 6 423.56

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1396 0 6.71

Compass 1565 5 117.43

RAFOS 1162 40 697.80

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.36 16386 -146.63 -1.09 0.00 566.3 640.9 491.7 202.2 2110.2 0.00 0.00 0 99.72 86.47 0.00 0.00 0.005 0.000 0.000 2566.75 2537.44 2596.06 202.12 2109.38 0 0 0 15.84 30.00 30.00

100.16 18727 -146.63 -1.09 80.00 2566.1 2537.6 2594.6 202.3 2109.2 3.55 -2.90 17 160.60 29.80 10.61 3.62 0.005 0.302 0.106 3616.09 3607.81 3624.38 1483.38 3620.88 0 0 0 15.92 15.72 15.84

170.23 3237 -146.63 -0.89 0.00 3615.5 3608.9 3622.2 1483.6 3620.6 9.83 -9.07 28 178.18 0.00 0.36 3.43 0.000 0.189 0.046 3616.84 3610.19 3623.50 1535.69 2113.94 0 0 0 30.00 15.79 15.86

362.50 292 -146.63 -0.89 80.00 3617.1 3613.1 3621.2 1536.1 2115.2 23.97 -6.54 66 370.67 0.00 0.00 3.65 0.000 0.000 0.104 3616.72 3612.94 3620.50 1536.56 3619.12 0 0 0 30.00 30.00 15.92

425.12 1188 -146.63 -0.84 0.00 3616.8 3613.4 3620.1 1536.5 3619.2 28.80 -8.02 78 433.00 0.00 0.00 3.38 0.000 0.000 0.045 3617.16 3613.81 3620.50 1536.38 2114.50 0 0 0 30.00 30.00 15.96

617.47 160 -146.63 -0.88 0.00 3617.2 3614.6 3619.9 1536.6 2114.5 41.74 -6.67 116 622.21 0.00 0.00 0.00 0.000 0.000 0.000 3617.56 3614.31 3620.81 1536.44 2114.62 0 0 0 30.00 30.00 30.00

807.07 160 -146.63 -0.93 0.00 3617.5 3614.8 3620.2 1536.3 2114.7 55.09 -7.24 147 815.99 0.00 0.00 0.00 0.000 0.000 0.000 3617.56 3615.38 3619.75 1536.81 2114.56 0 0 0 30.00 30.00 30.00

1006.35 420 -146.63 -0.96 80.00 3617.6 3615.1 3620.1 1536.5 2114.7 69.42 -6.98 167 1014.58 0.00 0.00 3.60 0.000 0.000 0.105 3617.19 3614.81 3619.56 1536.62 3618.19 0 0 0 30.00 30.00 16.04

1048.08 1060 -146.63 -0.96 0.00 3617.6 3615.6 3619.7 1536.3 3617.6 72.86 -8.03 175 1056.98 0.00 0.00 3.38 0.000 0.000 0.046 3617.91 3615.69 3620.12 1536.75 2114.25 0 0 0 30.00 30.00 16.07

1240.65 4517 -146.63 -1.00 80.00 3618.0 3615.9 3620.1 1536.1 2114.9 86.98 -7.47 194 1249.13 0.00 0.28 3.60 0.000 0.084 0.104 3619.03 3616.50 3621.56 1492.00 3617.06 0 0 0 30.00 16.05 16.05

1268.62 3237 -146.63 -0.92 0.00 3617.6 3615.0 3620.1 1491.9 3618.4 89.75 -8.42 199 1276.96 0.00 0.30 3.38 0.000 0.182 0.046 3617.00 3614.69 3619.31 1527.62 2114.31 0 0 0 30.00 16.02 16.07

1463.53 32 -146.63 -0.92 0.00 3617.8 3615.6 3620.0 1527.6 2113.3 105.41 -7.78 219 1465.15 0.00 0.00 0.00 0.000 0.000 0.000 3618.06 3615.94 3620.19 1528.19 2113.44 0 0 0 30.00 30.00 30.00

1653.54 292 -146.63 -0.92 80.00 3617.8 3616.2 3619.5 1527.8 2112.9 121.21 -8.66 238 1661.92 0.00 0.00 3.61 0.000 0.000 0.106 3619.88 3617.31 3622.44 1527.56 3617.44 0 0 0 30.00 30.00 16.04

1701.62 1156 -146.63 -0.88 0.00 3618.2 3616.2 3620.2 1527.4 3618.0 125.98 -10.26 247 1709.77 0.00 0.00 3.38 0.000 0.000 0.048 3618.72 3616.75 3620.69 1528.06 2117.25 0 0 0 30.00 30.00 16.09

1895.59 32 -146.63 -0.88 0.00 3617.7 3615.8 3619.7 1527.6 2117.2 142.75 -8.24 267 1897.22 0.00 0.00 0.00 0.000 0.000 0.000 3617.50 3615.50 3619.50 1527.94 2117.00 0 0 0 30.00 30.00 30.00

2085.61 292 -146.63 -0.88 80.00 3618.0 3616.4 3619.7 1527.8 2117.2 158.91 -8.55 286 2093.93 0.00 0.00 3.59 0.000 0.000 0.106 3619.75 3617.81 3621.69 1528.12 3619.00 0 0 0 30.00 30.00 16.09

2097 end dive: TARGET_DEPTH_EXCEEDED

state 2097 begin apogee

2104.95 10243 0.00 -0.27 0.00 3618.2 3615.9 3620.6 1527.3 2114.2 160.09 -8.68 288 2228.18 112.32 1.10 0.10 1.082 0.159 0.180 3017.00 3071.50 2962.50 1686.44 2184.31 0 0 0 11.68 16.05 15.73

2230 end apogee: CONTROL_FINISHED_OK

state 2230 begin climb

2230.06 10243 146.63 1.09 0.00 3016.5 3070.5 2962.5 1686.4 2184.7 164.43 0.00 300 2357.49 115.50 2.26 0.00 1.042 0.122 0.000 2421.12 2488.81 2353.44 2017.81 2184.00 0 0 0 11.75 15.72 30.00

2545.90 4485 146.63 0.97 80.00 2413.3 2476.1 2350.5 2016.8 2184.5 132.73 12.55 333 2554.50 0.00 0.33 3.55 0.000 0.172 0.111 2413.78 2476.00 2351.56 1977.56 3618.19 0 0 0 30.00 15.73 15.76

2604.36 17542 146.63 0.85 0.00 2410.9 2471.7 2350.1 1976.6 3617.5 125.51 12.50 343 2612.07 0.00 0.00 3.41 0.000 0.000 0.048 2410.88 2471.75 2350.00 1977.00 2120.12 0 0 0 30.00 30.00 15.81

2798.93 16386 146.63 0.85 0.00 2410.7 2471.6 2349.9 1977.2 2119.9 105.26 9.80 363 2800.55 0.00 0.00 0.00 0.000 0.000 0.000 2409.91 2471.44 2348.38 1977.19 2119.75 0 0 0 30.00 30.00 30.00

2991.70 292 149.01 0.85 80.00 2410.3 2470.7 2349.9 1977.5 2119.6 87.90 9.59 381 3003.75 0.00 0.00 3.64 0.000 0.000 0.109 2411.34 2471.56 2351.12 1976.75 3617.94 0 0 0 30.00 30.00 15.94

3087.32 5253 149.01 0.76 0.00 2409.2 2468.5 2350.0 1977.2 3617.6 76.04 11.06 400 3096.51 0.00 0.32 3.38 0.000 0.182 0.048 2409.84 2469.00 2350.69 1928.62 2118.50 0 0 0 30.00 15.91 15.97

3283.31 10663 212.04 0.95 80.00 2409.2 2468.8 2349.6 1928.5 2118.7 61.92 6.87 420 3349.35 49.96 0.38 3.68 0.981 0.078 0.111 2151.03 2228.88 2073.19 1987.31 3615.88 0 0 0 11.80 15.97 15.81

3378.90 1156 212.04 0.90 0.00 2148.9 2225.0 2072.8 1986.7 3616.6 51.96 11.98 438 3391.14 0.00 0.00 3.39 0.000 0.000 0.047 2149.16 2225.25 2073.06 1987.88 2119.69 0 0 0 30.00 30.00 15.87

3573.94 388 212.04 0.94 80.00 2147.4 2221.9 2072.9 1987.4 2120.0 31.30 10.51 476 3582.36 0.00 0.00 3.66 0.000 0.000 0.110 2148.50 2221.81 2075.19 1986.56 3615.88 0 0 0 30.00 30.00 15.92

3631.80 1028 212.04 0.94 0.00 2146.0 2219.1 2072.9 1987.4 3616.4 24.85 11.07 487 3640.09 0.00 0.00 3.38 0.000 0.000 0.048 2147.00 2219.88 2074.12 1987.56 2120.00 0 0 0 30.00 30.00 15.96

3824.16 10663 262.35 1.10 80.00 2145.9 2218.9 2072.9 1987.2 2119.6 7.91 7.44 524 3875.45 38.37 0.17 3.67 0.924 0.103 0.111 1946.16 2034.38 1857.94 2024.81 3616.69 0 0 0 11.78 16.00 15.87

4085 end climb: NO_VERTICAL_VELOCITY

state 4085 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	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	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3018.2173	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	1750.7567	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	18.713223	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.495928	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	27.61167	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	240522,223431,4737.027,-12256.482,18,1.1,30,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,223851,4737.058,-12256.416,3,0.8,5,15.5	MHEAD_RNG_PITCHd_Wd	190.2,2091,-17.1,-9.697,-20.82,2278,0.152
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.026596,0.042122,0.011621,1.105304,-0.030256,0.003727,-0.032755,1.018910,427.064667,-1334.949951,-202.483078
TGT_LATLONG	4736.000,-12257.000

NAV	1653435317,55.1,1,stop	_10V_AH	15.00,0.000
NET	CACST,8,1,20220524234215.990638,06,8257,39,0095,0150,07,01,01,00,01,-1,-01,-01,1,3,2196,0,150,26.9,1.21,-100,1.79,-01,0.12,54,10000,5000,0,-1,00,00*58	FG_AHR_24Vo	27.778
NET_PING	1653435139,28,826.582520,11.400000,-1.090161	FG_AHR_10Vo	19.527
MODEM_MSG	CACST,8,1,20220524233403.170724,18,16343,42,0205,0000,246,00,00,00,00,-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*23	MEM0	60132,1,0,0
FREEZE	3.19,13.281,-1.480,0,1,0	MEM1	65508,1,0,0
SM_CCo	4352.44,247.90,0.903,0,500.8,575.2,426.3,617.48	MEM2	944452,34,102136,65
SM_GC	1.32,0.00,11.69,3.46,0.000,0.081,0.048,497.2,575.2,419.2,202.3,2119.8,0,0,0,30.00,15.61,15.63	DATA_FILE_SIZE	16113,575
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	5667810,0
IRIDIUM_FIX	4736.87,-12256.21,240522,211932	SDSIZE	3887104,3865888
TCM_TEMP	13.31	SDFILEDIR	94,1
SC_FREEKB	3876864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	1,1653433501,47.50000,-123.50000,1.397,2045.9	CURRENT	0.077, 40.3,1
RAFOS_FIX	4733.179199,-12314.931641,240522,232303,2,510,3460.57	MAGCAL	1.000000,0.016389,0.034676,0.005094,1.056893,-0.036068,0.028692,-0.049330,0.923420,428.5,-1322.6,-110.5,30,0.0328,0
HUMID	48.74	IMPLIED_C_PITCH	1747,18.39,307,1748.7,18.55
TEMP	10.85	IMPLIED_C_VBD	3048,33.038612,307,3032.9
INTERNAL_PRESSURE	8.11552	GPS	240522,235432,4736.794,-12256.494,8,1.5,10,15.5
_24V_AH	15.00,7.528

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	1082	11046.25	nil	0	0	0.00
Pitch_motor	27	302	125.96	nil	0	0	0.00
Roll_motor	77	180	209.13	nil	0	0	0.00
Iridium	134	211	427.01	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	2990	5	229.66	SciCon	4093	6	423.56
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1396	0	6.71
Compass	1565	5	117.43
RAFOS	1162	40	697.80
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.36	16386	-146.63	-1.09	0.00	566.3	640.9	491.7	202.2	2110.2	0.00	0.00	0	99.72	86.47	0.00	0.00	0.005	0.000	0.000	2566.75	2537.44	2596.06	202.12	2109.38	0	0	0	15.84	30.00	30.00
100.16	18727	-146.63	-1.09	80.00	2566.1	2537.6	2594.6	202.3	2109.2	3.55	-2.90	17	160.60	29.80	10.61	3.62	0.005	0.302	0.106	3616.09	3607.81	3624.38	1483.38	3620.88	0	0	0	15.92	15.72	15.84
170.23	3237	-146.63	-0.89	0.00	3615.5	3608.9	3622.2	1483.6	3620.6	9.83	-9.07	28	178.18	0.00	0.36	3.43	0.000	0.189	0.046	3616.84	3610.19	3623.50	1535.69	2113.94	0	0	0	30.00	15.79	15.86
362.50	292	-146.63	-0.89	80.00	3617.1	3613.1	3621.2	1536.1	2115.2	23.97	-6.54	66	370.67	0.00	0.00	3.65	0.000	0.000	0.104	3616.72	3612.94	3620.50	1536.56	3619.12	0	0	0	30.00	30.00	15.92
425.12	1188	-146.63	-0.84	0.00	3616.8	3613.4	3620.1	1536.5	3619.2	28.80	-8.02	78	433.00	0.00	0.00	3.38	0.000	0.000	0.045	3617.16	3613.81	3620.50	1536.38	2114.50	0	0	0	30.00	30.00	15.96
617.47	160	-146.63	-0.88	0.00	3617.2	3614.6	3619.9	1536.6	2114.5	41.74	-6.67	116	622.21	0.00	0.00	0.00	0.000	0.000	0.000	3617.56	3614.31	3620.81	1536.44	2114.62	0	0	0	30.00	30.00	30.00
807.07	160	-146.63	-0.93	0.00	3617.5	3614.8	3620.2	1536.3	2114.7	55.09	-7.24	147	815.99	0.00	0.00	0.00	0.000	0.000	0.000	3617.56	3615.38	3619.75	1536.81	2114.56	0	0	0	30.00	30.00	30.00
1006.35	420	-146.63	-0.96	80.00	3617.6	3615.1	3620.1	1536.5	2114.7	69.42	-6.98	167	1014.58	0.00	0.00	3.60	0.000	0.000	0.105	3617.19	3614.81	3619.56	1536.62	3618.19	0	0	0	30.00	30.00	16.04
1048.08	1060	-146.63	-0.96	0.00	3617.6	3615.6	3619.7	1536.3	3617.6	72.86	-8.03	175	1056.98	0.00	0.00	3.38	0.000	0.000	0.046	3617.91	3615.69	3620.12	1536.75	2114.25	0	0	0	30.00	30.00	16.07
1240.65	4517	-146.63	-1.00	80.00	3618.0	3615.9	3620.1	1536.1	2114.9	86.98	-7.47	194	1249.13	0.00	0.28	3.60	0.000	0.084	0.104	3619.03	3616.50	3621.56	1492.00	3617.06	0	0	0	30.00	16.05	16.05
1268.62	3237	-146.63	-0.92	0.00	3617.6	3615.0	3620.1	1491.9	3618.4	89.75	-8.42	199	1276.96	0.00	0.30	3.38	0.000	0.182	0.046	3617.00	3614.69	3619.31	1527.62	2114.31	0	0	0	30.00	16.02	16.07
1463.53	32	-146.63	-0.92	0.00	3617.8	3615.6	3620.0	1527.6	2113.3	105.41	-7.78	219	1465.15	0.00	0.00	0.00	0.000	0.000	0.000	3618.06	3615.94	3620.19	1528.19	2113.44	0	0	0	30.00	30.00	30.00
1653.54	292	-146.63	-0.92	80.00	3617.8	3616.2	3619.5	1527.8	2112.9	121.21	-8.66	238	1661.92	0.00	0.00	3.61	0.000	0.000	0.106	3619.88	3617.31	3622.44	1527.56	3617.44	0	0	0	30.00	30.00	16.04
1701.62	1156	-146.63	-0.88	0.00	3618.2	3616.2	3620.2	1527.4	3618.0	125.98	-10.26	247	1709.77	0.00	0.00	3.38	0.000	0.000	0.048	3618.72	3616.75	3620.69	1528.06	2117.25	0	0	0	30.00	30.00	16.09
1895.59	32	-146.63	-0.88	0.00	3617.7	3615.8	3619.7	1527.6	2117.2	142.75	-8.24	267	1897.22	0.00	0.00	0.00	0.000	0.000	0.000	3617.50	3615.50	3619.50	1527.94	2117.00	0	0	0	30.00	30.00	30.00
2085.61	292	-146.63	-0.88	80.00	3618.0	3616.4	3619.7	1527.8	2117.2	158.91	-8.55	286	2093.93	0.00	0.00	3.59	0.000	0.000	0.106	3619.75	3617.81	3621.69	1528.12	3619.00	0	0	0	30.00	30.00	16.09
2097	end dive: TARGET_DEPTH_EXCEEDED
state	2097	begin apogee
2104.95	10243	0.00	-0.27	0.00	3618.2	3615.9	3620.6	1527.3	2114.2	160.09	-8.68	288	2228.18	112.32	1.10	0.10	1.082	0.159	0.180	3017.00	3071.50	2962.50	1686.44	2184.31	0	0	0	11.68	16.05	15.73
2230	end apogee: CONTROL_FINISHED_OK
state	2230	begin climb
2230.06	10243	146.63	1.09	0.00	3016.5	3070.5	2962.5	1686.4	2184.7	164.43	0.00	300	2357.49	115.50	2.26	0.00	1.042	0.122	0.000	2421.12	2488.81	2353.44	2017.81	2184.00	0	0	0	11.75	15.72	30.00
2545.90	4485	146.63	0.97	80.00	2413.3	2476.1	2350.5	2016.8	2184.5	132.73	12.55	333	2554.50	0.00	0.33	3.55	0.000	0.172	0.111	2413.78	2476.00	2351.56	1977.56	3618.19	0	0	0	30.00	15.73	15.76
2604.36	17542	146.63	0.85	0.00	2410.9	2471.7	2350.1	1976.6	3617.5	125.51	12.50	343	2612.07	0.00	0.00	3.41	0.000	0.000	0.048	2410.88	2471.75	2350.00	1977.00	2120.12	0	0	0	30.00	30.00	15.81
2798.93	16386	146.63	0.85	0.00	2410.7	2471.6	2349.9	1977.2	2119.9	105.26	9.80	363	2800.55	0.00	0.00	0.00	0.000	0.000	0.000	2409.91	2471.44	2348.38	1977.19	2119.75	0	0	0	30.00	30.00	30.00
2991.70	292	149.01	0.85	80.00	2410.3	2470.7	2349.9	1977.5	2119.6	87.90	9.59	381	3003.75	0.00	0.00	3.64	0.000	0.000	0.109	2411.34	2471.56	2351.12	1976.75	3617.94	0	0	0	30.00	30.00	15.94
3087.32	5253	149.01	0.76	0.00	2409.2	2468.5	2350.0	1977.2	3617.6	76.04	11.06	400	3096.51	0.00	0.32	3.38	0.000	0.182	0.048	2409.84	2469.00	2350.69	1928.62	2118.50	0	0	0	30.00	15.91	15.97
3283.31	10663	212.04	0.95	80.00	2409.2	2468.8	2349.6	1928.5	2118.7	61.92	6.87	420	3349.35	49.96	0.38	3.68	0.981	0.078	0.111	2151.03	2228.88	2073.19	1987.31	3615.88	0	0	0	11.80	15.97	15.81
3378.90	1156	212.04	0.90	0.00	2148.9	2225.0	2072.8	1986.7	3616.6	51.96	11.98	438	3391.14	0.00	0.00	3.39	0.000	0.000	0.047	2149.16	2225.25	2073.06	1987.88	2119.69	0	0	0	30.00	30.00	15.87
3573.94	388	212.04	0.94	80.00	2147.4	2221.9	2072.9	1987.4	2120.0	31.30	10.51	476	3582.36	0.00	0.00	3.66	0.000	0.000	0.110	2148.50	2221.81	2075.19	1986.56	3615.88	0	0	0	30.00	30.00	15.92
3631.80	1028	212.04	0.94	0.00	2146.0	2219.1	2072.9	1987.4	3616.4	24.85	11.07	487	3640.09	0.00	0.00	3.38	0.000	0.000	0.048	2147.00	2219.88	2074.12	1987.56	2120.00	0	0	0	30.00	30.00	15.96
3824.16	10663	262.35	1.10	80.00	2145.9	2218.9	2072.9	1987.2	2119.6	7.91	7.44	524	3875.45	38.37	0.17	3.67	0.924	0.103	0.111	1946.16	2034.38	1857.94	2024.81	3616.69	0	0	0	11.78	16.00	15.87
4085	end climb: NO_VERTICAL_VELOCITY
state	4085	begin surface