Glider dive log

HoodCanal May22 * SG240 * Dive index * Mission links * Dive 8 * 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 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 8 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 8 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 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 7 C_VBD 3000.0464 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 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_RSLEEP 3 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 1754.6936 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 17.728607 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 14.839237 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 4.3551493 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 8 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 150 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 14.839237 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 4.3551493 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 17.728607 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 50

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 1754.6936 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 65

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 3

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 3000.0464 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 8 MISSION 2 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 170 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 240522,004154,4736.323,-12256.649,1,0.9,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,004435,4736.313,-12256.654,3,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 349.7,1311,-17.6,-10.000,-21.21,2209,0.133

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,-0.006832,0.041703,-0.004698,1.102066,-0.074299,-0.037574,-0.038165,1.058438,25.589912,-899.245117,-472.634308

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,1,20220524012815.257032,06,1291,31,0183,0150,89,01,01,00,01,1,045,121,3,5,7,0,150,10.9,3.24,-100,-0.24,-01,0.38,52,10000,5000,0,5,01,01*43 FG_AHR_24Vo 4.508

NET_PING 1653353898,28,576.541504,11.400000,1.233573 FG_AHR_10Vo 14.867

NAV 1653356113,57.9,0,stop MEM0 60148,1,0,0

FINISH 1.8,1.019468 MEM1 65508,1,0,0

SM_CCo 3923.25,143.45,0.929,0,541.7,558.2,525.2,603.02 MEM2 944476,35,102152,62

SM_GC 1.62,143.45,12.77,0.10,0.929,0.075,0.140,541.7,558.2,525.2,187.6,2117.8,0,0,0,11.81,15.74,15.77 DATA_FILE_SIZE 16138,550

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 388316,0

IRIDIUM_FIX 4736.00,-12258.89,240522,003516 SDSIZE 3887104,3871808

TCM_TEMP 17.70 SDFILEDIR 95,1

SC_FREEKB 3876224 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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.020,153.2,1

HUMID 49.35 MAGCAL 1.000000,-0.003704,0.034452,-0.009697,1.076684,-0.064315,0.005890,-0.050024,1.017013,32.9,-907.4,-436.0,35,0.0267,1

TEMP 10.09 IMPLIED_C_PITCH 1806,18.01,293,1780.2,17.87

INTERNAL_PRESSURE 7.98356 IMPLIED_C_VBD 3089,40.780880,293,3044.4

_24V_AH 14.94,5.345 GPS 240522,015053,4736.657,-12256.466,1,1.3,4,15.5

_10V_AH 14.94,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 627 1113 10448.19 nil 0 0 0.00

Pitch_motor 30 254 114.44 nil 0 0 0.00

Roll_motor 72 198 214.33 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 2.95 nil 0 0 0.00

Core 2258 5 172.79 SciCon 3750 6 363.99

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1546 0 7.39

Compass 1112 5 83.11

RAFOS 863 40 515.84

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

6.66 16386 -146.63 -1.17 0.00 497.5 521.4 473.5 186.6 2130.6 0.00 0.00 0 71.17 61.35 0.00 0.00 0.005 0.000 0.000 2325.47 2367.38 2283.56 186.38 2130.12 0 0 0 15.94 30.00 30.00

71.47 18727 -146.63 -1.17 80.00 2324.4 2365.8 2282.9 186.3 2130.1 3.21 -2.91 12 133.94 37.38 9.71 3.66 0.005 0.255 0.125 3597.91 3654.69 3541.12 1467.31 3618.12 0 0 0 15.97 15.79 15.88

206.95 3205 -146.63 -0.84 0.00 3597.8 3651.8 3543.9 1469.2 3618.3 15.19 -12.10 37 218.97 0.00 0.58 3.47 0.000 0.188 0.054 3599.91 3654.25 3545.56 1551.69 2119.62 0 0 0 30.00 15.86 15.89

402.38 292 -146.63 -0.84 80.00 3599.2 3653.8 3544.5 1551.6 2119.8 28.43 -6.04 76 409.20 0.00 0.00 3.67 0.000 0.000 0.121 3599.31 3654.12 3544.50 1551.81 3616.44 0 0 0 30.00 30.00 15.93

452.71 3237 -146.63 -0.72 0.00 3599.6 3653.8 3545.4 1551.6 3617.1 31.95 -7.02 86 459.52 0.00 0.17 3.44 0.000 0.193 0.053 3600.75 3654.88 3546.62 1580.00 2118.38 0 0 0 30.00 15.93 15.99

642.94 548 -146.63 -0.72 -80.00 3599.9 3655.1 3544.7 1580.3 2118.9 42.81 -5.53 124 649.77 0.00 0.00 3.62 0.000 0.000 0.123 3601.00 3656.19 3545.81 1579.88 683.19 0 0 0 30.00 30.00 15.98

678.20 1060 -146.63 -0.72 0.00 3599.8 3654.6 3545.1 1581.1 683.4 45.24 -6.36 131 684.87 0.00 0.00 3.39 0.000 0.000 0.056 3600.31 3655.12 3545.50 1580.81 2176.19 0 0 0 30.00 30.00 16.03

874.40 32 -146.63 -0.72 0.00 3600.2 3654.4 3546.1 1581.1 2176.4 58.07 -6.20 157 875.97 0.00 0.00 0.00 0.000 0.000 0.000 3598.94 3653.19 3544.69 1581.19 2176.88 0 0 0 30.00 30.00 30.00

1064.46 32 -146.63 -0.72 0.00 3600.5 3654.9 3546.1 1580.7 2176.2 71.58 -6.91 176 1066.14 0.00 0.00 0.00 0.000 0.000 0.000 3600.28 3654.88 3545.69 1580.56 2176.44 0 0 0 30.00 30.00 30.00

1254.55 160 -146.63 -0.76 0.00 3600.6 3654.9 3546.3 1580.9 2176.3 85.88 -7.79 195 1256.12 0.00 0.00 0.00 0.000 0.000 0.000 3599.34 3653.56 3545.12 1581.62 2176.38 0 0 0 30.00 30.00 30.00

1444.55 420 -146.63 -0.80 80.00 3600.5 3654.5 3546.4 1580.7 2176.5 100.47 -7.71 214 1450.51 0.00 0.00 3.53 0.000 0.000 0.130 3601.94 3655.50 3548.38 1580.62 3616.44 0 0 0 30.00 30.00 16.05

1488.75 1060 -146.63 -0.80 0.00 3600.7 3654.5 3546.9 1580.9 3616.0 104.51 -9.14 223 1496.20 0.00 0.00 3.45 0.000 0.000 0.057 3601.09 3655.12 3547.06 1580.94 2122.19 0 0 0 30.00 30.00 16.09

1679.70 4257 -146.63 -0.86 0.00 3600.8 3655.0 3546.6 1581.2 2121.9 119.37 -7.76 243 1681.51 0.00 0.29 0.00 0.000 0.077 0.000 3600.31 3654.81 3545.81 1528.94 2121.88 0 0 0 30.00 16.11 30.00

1869.66 2437 -146.63 -0.81 80.00 3600.5 3654.6 3546.3 1530.4 2122.1 138.27 -10.40 262 1876.97 0.00 0.25 3.65 0.000 0.176 0.126 3602.69 3657.38 3548.00 1557.75 3615.44 0 0 0 30.00 16.08 16.09

1919.72 1156 -146.63 -0.77 0.00 3600.5 3654.4 3546.5 1559.4 3616.8 143.67 -10.77 272 1927.16 0.00 0.00 3.43 0.000 0.000 0.058 3601.81 3654.44 3549.19 1559.19 2121.06 0 0 0 30.00 30.00 16.13

1955 end dive: HALF_MISSION_TIME_EXCEEDED

state 1955 begin apogee

1956.70 10243 0.00 -0.28 0.00 3600.8 3654.8 3546.8 1559.2 2180.6 147.00 -9.54 276 2065.24 101.74 0.84 0.10 1.114 0.149 0.199 3001.22 3057.31 2945.12 1686.69 2118.75 0 0 0 11.88 16.07 15.76

2066 end apogee: CONTROL_FINISHED_OK

state 2066 begin climb

2066.38 10243 146.63 1.17 0.00 2998.5 3055.3 2941.8 1687.5 2118.6 151.60 0.00 286 2182.80 106.49 2.38 0.00 1.077 0.127 0.000 2399.59 2469.88 2329.31 2039.06 2118.25 0 0 0 11.86 15.76 30.00

2366.16 516 146.63 1.17 -80.00 2394.6 2469.5 2319.8 2038.9 2118.7 125.31 11.04 318 2373.38 0.00 0.00 3.73 0.000 0.000 0.130 2395.38 2470.56 2320.19 2035.19 682.56 0 0 0 30.00 30.00 15.75

2476.17 21639 146.63 1.05 0.00 2392.0 2466.4 2317.6 2039.1 682.9 110.94 13.14 340 2483.85 0.00 0.31 3.46 0.000 0.161 0.063 2391.88 2466.50 2317.25 2000.69 2169.31 0 0 0 30.00 15.82 15.85

2665.30 10919 189.38 1.19 -80.00 2391.5 2466.7 2316.3 2000.7 2169.2 94.49 8.02 359 2709.11 32.03 0.31 3.86 1.006 0.075 0.127 2225.28 2303.62 2146.94 2053.12 684.25 0 0 0 11.81 15.93 15.77

2741.85 5253 189.38 1.10 0.00 2222.0 2300.3 2143.6 2053.4 684.0 85.51 13.52 374 2749.55 0.00 0.31 3.45 0.000 0.159 0.062 2223.84 2301.94 2145.75 2012.31 2168.00 0 0 0 30.00 15.80 15.84

2937.64 10919 209.24 1.23 -80.00 2220.2 2300.2 2140.3 2012.0 2167.6 66.90 9.08 394 2961.65 16.09 0.29 3.88 0.931 0.077 0.128 2143.09 2224.88 2061.31 2061.44 684.31 0 0 0 11.83 15.90 15.82

3039.40 5253 209.24 1.15 0.00 2141.4 2222.8 2060.1 2061.2 684.1 53.73 14.02 414 3047.02 0.00 0.28 3.44 0.000 0.155 0.062 2141.56 2223.62 2059.50 2024.94 2167.75 0 0 0 30.00 15.87 15.90

3228.75 10919 233.80 1.28 -80.00 2140.2 2223.4 2057.1 2025.2 2168.2 35.63 8.86 448 3256.87 19.33 0.29 3.86 0.931 0.077 0.127 2046.66 2130.88 1962.44 2074.94 683.00 0 0 0 11.83 15.97 15.87

3330.34 5253 233.80 1.22 0.00 2042.2 2127.1 1957.2 2074.6 683.2 22.19 14.09 468 3337.24 0.00 0.26 3.44 0.000 0.156 0.063 2042.69 2128.19 1957.19 2041.12 2169.44 0 0 0 30.00 15.90 15.94

3520.72 10919 309.32 1.50 -80.00 2040.7 2127.1 1954.2 2041.6 2169.3 6.27 6.50 506 3585.72 53.99 0.54 3.85 0.948 0.074 0.125 1737.25 1828.56 1645.94 2123.06 684.50 0 0 0 11.81 16.00 15.80

3679.24 11431 476.53 1.86 0.00 1731.6 1820.7 1642.4 2122.6 684.4 2.25 2.26 537 3744.15 55.95 0.50 3.44 0.930 0.085 0.057 1415.28 1503.75 1326.81 2210.12 2174.50 0 0 0 11.88 15.88 15.91

3745 end climb: SURFACE_DEPTH_REACHED

state 3745 begin surface coast

3748 end surface coast: CONTROL_FINISHED_OK

state 3748 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	8	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	8	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	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	7	C_VBD	3000.0464	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	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_RSLEEP	3	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	1754.6936	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	17.728607	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	14.839237	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	4.3551493	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	240522,004154,4736.323,-12256.649,1,0.9,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,004435,4736.313,-12256.654,3,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	349.7,1311,-17.6,-10.000,-21.21,2209,0.133
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,-0.006832,0.041703,-0.004698,1.102066,-0.074299,-0.037574,-0.038165,1.058438,25.589912,-899.245117,-472.634308
TGT_LATLONG	4737.000,-12256.400

NET	CACST,8,1,20220524012815.257032,06,1291,31,0183,0150,89,01,01,00,01,1,045,121,3,5,7,0,150,10.9,3.24,-100,-0.24,-01,0.38,52,10000,5000,0,5,01,01*43	FG_AHR_24Vo	4.508
NET_PING	1653353898,28,576.541504,11.400000,1.233573	FG_AHR_10Vo	14.867
NAV	1653356113,57.9,0,stop	MEM0	60148,1,0,0
FINISH	1.8,1.019468	MEM1	65508,1,0,0
SM_CCo	3923.25,143.45,0.929,0,541.7,558.2,525.2,603.02	MEM2	944476,35,102152,62
SM_GC	1.62,143.45,12.77,0.10,0.929,0.075,0.140,541.7,558.2,525.2,187.6,2117.8,0,0,0,11.81,15.74,15.77	DATA_FILE_SIZE	16138,550
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	388316,0
IRIDIUM_FIX	4736.00,-12258.89,240522,003516	SDSIZE	3887104,3871808
TCM_TEMP	17.70	SDFILEDIR	95,1
SC_FREEKB	3876224	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
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.020,153.2,1
HUMID	49.35	MAGCAL	1.000000,-0.003704,0.034452,-0.009697,1.076684,-0.064315,0.005890,-0.050024,1.017013,32.9,-907.4,-436.0,35,0.0267,1
TEMP	10.09	IMPLIED_C_PITCH	1806,18.01,293,1780.2,17.87
INTERNAL_PRESSURE	7.98356	IMPLIED_C_VBD	3089,40.780880,293,3044.4
_24V_AH	14.94,5.345	GPS	240522,015053,4736.657,-12256.466,1,1.3,4,15.5
_10V_AH	14.94,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	627	1113	10448.19	nil	0	0	0.00
Pitch_motor	30	254	114.44	nil	0	0	0.00
Roll_motor	72	198	214.33	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	2.95	nil	0	0	0.00
Core	2258	5	172.79	SciCon	3750	6	363.99
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1546	0	7.39
Compass	1112	5	83.11
RAFOS	863	40	515.84
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
6.66	16386	-146.63	-1.17	0.00	497.5	521.4	473.5	186.6	2130.6	0.00	0.00	0	71.17	61.35	0.00	0.00	0.005	0.000	0.000	2325.47	2367.38	2283.56	186.38	2130.12	0	0	0	15.94	30.00	30.00
71.47	18727	-146.63	-1.17	80.00	2324.4	2365.8	2282.9	186.3	2130.1	3.21	-2.91	12	133.94	37.38	9.71	3.66	0.005	0.255	0.125	3597.91	3654.69	3541.12	1467.31	3618.12	0	0	0	15.97	15.79	15.88
206.95	3205	-146.63	-0.84	0.00	3597.8	3651.8	3543.9	1469.2	3618.3	15.19	-12.10	37	218.97	0.00	0.58	3.47	0.000	0.188	0.054	3599.91	3654.25	3545.56	1551.69	2119.62	0	0	0	30.00	15.86	15.89
402.38	292	-146.63	-0.84	80.00	3599.2	3653.8	3544.5	1551.6	2119.8	28.43	-6.04	76	409.20	0.00	0.00	3.67	0.000	0.000	0.121	3599.31	3654.12	3544.50	1551.81	3616.44	0	0	0	30.00	30.00	15.93
452.71	3237	-146.63	-0.72	0.00	3599.6	3653.8	3545.4	1551.6	3617.1	31.95	-7.02	86	459.52	0.00	0.17	3.44	0.000	0.193	0.053	3600.75	3654.88	3546.62	1580.00	2118.38	0	0	0	30.00	15.93	15.99
642.94	548	-146.63	-0.72	-80.00	3599.9	3655.1	3544.7	1580.3	2118.9	42.81	-5.53	124	649.77	0.00	0.00	3.62	0.000	0.000	0.123	3601.00	3656.19	3545.81	1579.88	683.19	0	0	0	30.00	30.00	15.98
678.20	1060	-146.63	-0.72	0.00	3599.8	3654.6	3545.1	1581.1	683.4	45.24	-6.36	131	684.87	0.00	0.00	3.39	0.000	0.000	0.056	3600.31	3655.12	3545.50	1580.81	2176.19	0	0	0	30.00	30.00	16.03
874.40	32	-146.63	-0.72	0.00	3600.2	3654.4	3546.1	1581.1	2176.4	58.07	-6.20	157	875.97	0.00	0.00	0.00	0.000	0.000	0.000	3598.94	3653.19	3544.69	1581.19	2176.88	0	0	0	30.00	30.00	30.00
1064.46	32	-146.63	-0.72	0.00	3600.5	3654.9	3546.1	1580.7	2176.2	71.58	-6.91	176	1066.14	0.00	0.00	0.00	0.000	0.000	0.000	3600.28	3654.88	3545.69	1580.56	2176.44	0	0	0	30.00	30.00	30.00
1254.55	160	-146.63	-0.76	0.00	3600.6	3654.9	3546.3	1580.9	2176.3	85.88	-7.79	195	1256.12	0.00	0.00	0.00	0.000	0.000	0.000	3599.34	3653.56	3545.12	1581.62	2176.38	0	0	0	30.00	30.00	30.00
1444.55	420	-146.63	-0.80	80.00	3600.5	3654.5	3546.4	1580.7	2176.5	100.47	-7.71	214	1450.51	0.00	0.00	3.53	0.000	0.000	0.130	3601.94	3655.50	3548.38	1580.62	3616.44	0	0	0	30.00	30.00	16.05
1488.75	1060	-146.63	-0.80	0.00	3600.7	3654.5	3546.9	1580.9	3616.0	104.51	-9.14	223	1496.20	0.00	0.00	3.45	0.000	0.000	0.057	3601.09	3655.12	3547.06	1580.94	2122.19	0	0	0	30.00	30.00	16.09
1679.70	4257	-146.63	-0.86	0.00	3600.8	3655.0	3546.6	1581.2	2121.9	119.37	-7.76	243	1681.51	0.00	0.29	0.00	0.000	0.077	0.000	3600.31	3654.81	3545.81	1528.94	2121.88	0	0	0	30.00	16.11	30.00
1869.66	2437	-146.63	-0.81	80.00	3600.5	3654.6	3546.3	1530.4	2122.1	138.27	-10.40	262	1876.97	0.00	0.25	3.65	0.000	0.176	0.126	3602.69	3657.38	3548.00	1557.75	3615.44	0	0	0	30.00	16.08	16.09
1919.72	1156	-146.63	-0.77	0.00	3600.5	3654.4	3546.5	1559.4	3616.8	143.67	-10.77	272	1927.16	0.00	0.00	3.43	0.000	0.000	0.058	3601.81	3654.44	3549.19	1559.19	2121.06	0	0	0	30.00	30.00	16.13
1955	end dive: HALF_MISSION_TIME_EXCEEDED
state	1955	begin apogee
1956.70	10243	0.00	-0.28	0.00	3600.8	3654.8	3546.8	1559.2	2180.6	147.00	-9.54	276	2065.24	101.74	0.84	0.10	1.114	0.149	0.199	3001.22	3057.31	2945.12	1686.69	2118.75	0	0	0	11.88	16.07	15.76
2066	end apogee: CONTROL_FINISHED_OK
state	2066	begin climb
2066.38	10243	146.63	1.17	0.00	2998.5	3055.3	2941.8	1687.5	2118.6	151.60	0.00	286	2182.80	106.49	2.38	0.00	1.077	0.127	0.000	2399.59	2469.88	2329.31	2039.06	2118.25	0	0	0	11.86	15.76	30.00
2366.16	516	146.63	1.17	-80.00	2394.6	2469.5	2319.8	2038.9	2118.7	125.31	11.04	318	2373.38	0.00	0.00	3.73	0.000	0.000	0.130	2395.38	2470.56	2320.19	2035.19	682.56	0	0	0	30.00	30.00	15.75
2476.17	21639	146.63	1.05	0.00	2392.0	2466.4	2317.6	2039.1	682.9	110.94	13.14	340	2483.85	0.00	0.31	3.46	0.000	0.161	0.063	2391.88	2466.50	2317.25	2000.69	2169.31	0	0	0	30.00	15.82	15.85
2665.30	10919	189.38	1.19	-80.00	2391.5	2466.7	2316.3	2000.7	2169.2	94.49	8.02	359	2709.11	32.03	0.31	3.86	1.006	0.075	0.127	2225.28	2303.62	2146.94	2053.12	684.25	0	0	0	11.81	15.93	15.77
2741.85	5253	189.38	1.10	0.00	2222.0	2300.3	2143.6	2053.4	684.0	85.51	13.52	374	2749.55	0.00	0.31	3.45	0.000	0.159	0.062	2223.84	2301.94	2145.75	2012.31	2168.00	0	0	0	30.00	15.80	15.84
2937.64	10919	209.24	1.23	-80.00	2220.2	2300.2	2140.3	2012.0	2167.6	66.90	9.08	394	2961.65	16.09	0.29	3.88	0.931	0.077	0.128	2143.09	2224.88	2061.31	2061.44	684.31	0	0	0	11.83	15.90	15.82
3039.40	5253	209.24	1.15	0.00	2141.4	2222.8	2060.1	2061.2	684.1	53.73	14.02	414	3047.02	0.00	0.28	3.44	0.000	0.155	0.062	2141.56	2223.62	2059.50	2024.94	2167.75	0	0	0	30.00	15.87	15.90
3228.75	10919	233.80	1.28	-80.00	2140.2	2223.4	2057.1	2025.2	2168.2	35.63	8.86	448	3256.87	19.33	0.29	3.86	0.931	0.077	0.127	2046.66	2130.88	1962.44	2074.94	683.00	0	0	0	11.83	15.97	15.87
3330.34	5253	233.80	1.22	0.00	2042.2	2127.1	1957.2	2074.6	683.2	22.19	14.09	468	3337.24	0.00	0.26	3.44	0.000	0.156	0.063	2042.69	2128.19	1957.19	2041.12	2169.44	0	0	0	30.00	15.90	15.94
3520.72	10919	309.32	1.50	-80.00	2040.7	2127.1	1954.2	2041.6	2169.3	6.27	6.50	506	3585.72	53.99	0.54	3.85	0.948	0.074	0.125	1737.25	1828.56	1645.94	2123.06	684.50	0	0	0	11.81	16.00	15.80
3679.24	11431	476.53	1.86	0.00	1731.6	1820.7	1642.4	2122.6	684.4	2.25	2.26	537	3744.15	55.95	0.50	3.44	0.930	0.085	0.057	1415.28	1503.75	1326.81	2210.12	2174.50	0	0	0	11.88	15.88	15.91
3745	end climb: SURFACE_DEPTH_REACHED
state	3745	begin surface coast
3748	end surface coast: CONTROL_FINISHED_OK
state	3748	begin surface