Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 2 * 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 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 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 3072.1667 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 1796.9913 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 18.236351 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.212832 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 5.8747907 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 2 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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.212832 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.8747907 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 18.236351 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 1796.9913 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 3072.1667 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 2 MISSION 4 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 250522,020720,4737.262,-12255.732,1,1.9,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,021044,4737.301,-12255.685,2,1.9,4,15.5 MHEAD_RNG_PITCHd_Wd 202.6,2917,-17.1,-9.697,-20.82,2278,0.170

SPEED_LIMITS 0.168,0.255 D_GRID 160

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 1653448035,25.8,2,stop _10V_AH 15.00,0.000

NET xmit ok outbox0001.n 884 14 FG_AHR_24Vo 6.033

NET_PING 1653447491,28,1892.965454,19.200001,-2.517485 FG_AHR_10Vo 15.240

MODEM_MSG CACST,8,1,20220525030500.790470,18,32767,45,0140,0000,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-1.8,0.48,-100,2.52,-01,0.52,56,925,0025,0,-1,00,00*24 MEM0 60132,1,0,0

FREEZE 2.83,13.348,-1.459,0,1,0 MEM1 65508,1,0,0

SM_CCo 4025.97,185.68,0.913,0,500.7,525.2,476.2,630.74 MEM2 944552,33,102136,61

SM_GC 1.66,0.00,12.81,0.09,0.000,0.069,0.139,498.8,523.3,474.2,196.2,2119.8,0,0,0,30.00,15.59,15.60 DATA_FILE_SIZE 16139,564

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 407021,0

IRIDIUM_FIX 4735.25,-12336.09,250522,005340 SDSIZE 3887104,3871232

TCM_TEMP 17.80 SDFILEDIR 64,1

SC_FREEKB 3878144 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 0,1653447601,47.61200,-122.96660,1.034,1515.0 CURRENT 0.051, 76.2,1

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 MAGCAL 1.000000,0.025809,-0.238035,-0.018281,1.101380,-0.072392,0.032041,-0.135449,1.054332,279.9,-868.9,-415.0,21,0.0351,1

HUMID 49.54 IMPLIED_C_PITCH 1786,17.60,296,1791.4,17.92

TEMP 10.41 IMPLIED_C_VBD 3036,22.475954,296,3053.9

INTERNAL_PRESSURE 7.98916 GPS 250522,032102,4737.021,-12256.009,2,0.8,29,15.5

_24V_AH 15.06,7.053

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 652 1132 11133.87 nil 0 0 0.00

Pitch_motor 30 262 119.54 nil 0 0 0.00

Roll_motor 86 199 260.62 nil 0 0 0.00

Iridium 138 216 451.74 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 2438 5 187.30 SciCon 3839 6 374.24

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1686 0 8.09

Compass 1135 5 85.13

RAFOS 1109 40 665.64

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

6.72 16386 -146.63 -1.12 0.00 496.3 511.9 480.6 186.2 2129.9 0.00 0.00 0 78.42 68.24 0.00 0.00 0.005 0.000 0.000 2440.25 2476.25 2404.25 186.44 2129.69 0 0 0 15.84 30.00 30.00

78.72 18467 -146.63 -1.12 0.00 2438.1 2474.4 2401.8 186.4 2129.3 3.15 -2.90 13 127.47 29.58 10.42 0.00 0.006 0.262 0.000 3668.12 3724.50 3611.75 1524.31 2129.44 0 0 0 15.90 15.74 30.00

310.93 676 -146.63 -1.07 -80.00 3670.9 3724.4 3617.4 1524.4 2128.8 26.26 -9.06 59 317.70 0.00 0.00 3.73 0.000 0.000 0.123 3671.34 3725.38 3617.31 1524.25 684.19 0 0 0 30.00 30.00 15.90

346.18 3205 -146.63 -0.96 0.00 3670.5 3724.5 3616.6 1524.2 684.1 29.83 -10.11 66 353.06 0.00 0.27 3.43 0.000 0.185 0.058 3672.22 3725.44 3619.00 1563.50 2170.81 0 0 0 30.00 15.89 15.95

533.73 420 -146.63 -1.00 80.00 3671.0 3724.8 3617.2 1563.1 2170.4 44.36 -7.66 103 540.43 0.00 0.00 3.59 0.000 0.000 0.129 3670.69 3724.25 3617.12 1563.62 3615.25 0 0 0 30.00 30.00 15.96

633.89 1060 -146.63 -1.00 0.00 3670.7 3723.9 3617.5 1563.2 3615.1 53.57 -9.28 123 639.88 0.00 0.00 3.48 0.000 0.000 0.054 3670.69 3724.44 3616.94 1563.50 2119.50 0 0 0 30.00 30.00 16.02

823.99 676 -146.63 -1.05 -80.00 3671.1 3724.4 3617.8 1563.4 2119.2 68.61 -7.96 143 831.04 0.00 0.00 3.66 0.000 0.000 0.126 3669.78 3723.25 3616.31 1563.44 684.62 0 0 0 30.00 30.00 16.01

863.75 1060 -146.63 -1.05 0.00 3670.9 3724.0 3617.8 1563.6 684.5 72.31 -9.13 151 871.21 0.00 0.00 3.41 0.000 0.000 0.057 3671.12 3724.44 3617.81 1563.69 2173.12 0 0 0 30.00 30.00 16.05

1059.51 4517 -146.63 -1.08 80.00 3671.4 3724.8 3617.9 1563.7 2172.4 88.75 -8.40 171 1067.02 0.00 0.28 3.56 0.000 0.079 0.128 3672.94 3726.00 3619.88 1518.00 3616.31 0 0 0 30.00 16.05 16.03

1084.19 1156 -146.63 -1.05 0.00 3671.1 3724.1 3618.2 1518.1 3616.6 91.44 -10.07 174 1090.26 0.00 0.00 3.45 0.000 0.000 0.055 3673.19 3725.56 3620.81 1517.62 2121.19 0 0 0 30.00 30.00 16.06

1274.21 2177 -146.63 -0.98 0.00 3671.2 3724.4 3617.9 1517.8 2121.1 112.11 -10.86 194 1276.08 0.00 0.35 0.00 0.000 0.175 0.000 3671.16 3724.69 3617.62 1559.06 2120.94 0 0 0 30.00 16.03 30.00

1464.18 292 -146.63 -0.98 80.00 3671.5 3724.5 3618.5 1559.4 2120.9 129.19 -9.07 213 1471.31 0.00 0.00 3.69 0.000 0.000 0.125 3670.72 3723.56 3617.88 1558.88 3617.31 0 0 0 30.00 30.00 16.05

1519.71 1028 -146.63 -0.98 0.00 3671.8 3723.9 3619.8 1558.9 3617.8 134.94 -10.50 224 1525.73 0.00 0.00 3.45 0.000 0.000 0.055 3671.97 3724.56 3619.38 1557.44 2122.88 0 0 0 30.00 30.00 16.10

1709.88 160 -146.63 -1.02 0.00 3672.1 3724.8 3619.4 1559.1 2123.5 152.22 -8.88 244 1711.45 0.00 0.00 0.00 0.000 0.000 0.000 3671.00 3724.12 3617.88 1559.25 2123.00 0 0 0 30.00 30.00 30.00

1806 end dive: TARGET_DEPTH_EXCEEDED

state 1806 begin apogee

1807.06 10243 0.00 -0.27 0.00 3671.8 3724.3 3619.3 1559.4 2179.4 160.64 -8.62 254 1915.73 101.40 1.12 0.10 1.133 0.147 0.199 3074.88 3129.56 3020.19 1729.25 2118.69 0 0 0 12.00 16.07 15.74

1917 end apogee: CONTROL_FINISHED_OK

state 1917 begin climb

1917.23 10759 146.63 1.12 -80.00 3071.2 3127.0 3015.4 1728.6 2118.7 164.02 0.00 264 2040.64 105.13 2.30 3.80 1.095 0.118 0.130 2470.53 2534.19 2406.88 2068.75 684.31 0 0 0 11.83 15.75 15.51

2063.40 5253 146.63 0.89 0.00 2467.1 2532.1 2402.1 2068.5 684.4 151.95 13.05 291 2071.12 0.00 0.49 3.49 0.000 0.164 0.060 2467.22 2532.38 2402.06 2005.88 2168.81 0 0 0 30.00 15.57 15.62

2259.09 8742 155.27 0.90 -80.00 2465.1 2532.4 2397.8 2005.9 2168.7 132.93 9.31 311 2275.77 7.88 0.00 3.84 0.807 0.000 0.127 2438.88 2509.25 2368.50 2005.81 681.75 0 0 0 11.82 30.00 15.75

2323.53 1156 155.27 0.84 0.00 2435.2 2505.5 2364.9 2006.1 681.7 125.94 11.26 324 2331.00 0.00 0.00 3.45 0.000 0.000 0.059 2436.62 2506.75 2366.50 2005.62 2170.62 0 0 0 30.00 30.00 15.83

2519.32 8870 170.64 0.89 -80.00 2434.8 2505.5 2364.0 2005.9 2170.6 107.98 9.01 344 2541.93 13.72 0.00 3.85 0.939 0.000 0.127 2375.00 2448.31 2301.69 2005.81 684.12 0 0 0 11.88 30.00 15.84

2584.67 1156 170.64 0.86 0.00 2371.8 2446.3 2297.3 2005.7 684.1 101.18 11.03 357 2592.08 0.00 0.00 3.43 0.000 0.000 0.060 2371.53 2445.94 2297.12 2005.38 2169.44 0 0 0 30.00 30.00 15.91

2780.47 8870 182.53 0.93 -80.00 2370.9 2445.9 2295.9 2005.8 2169.1 83.05 9.16 377 2798.25 10.68 0.00 3.88 0.879 0.000 0.128 2326.12 2402.19 2250.06 2005.81 684.38 0 0 0 12.15 30.00 15.90

2859.93 1028 182.53 0.93 0.00 2324.7 2400.7 2248.6 2005.8 684.2 74.46 11.38 392 2865.99 0.00 0.00 3.44 0.000 0.000 0.060 2324.38 2400.81 2247.94 2004.94 2171.06 0 0 0 30.00 30.00 15.94

3053.81 10919 201.21 1.04 -80.00 2324.0 2400.4 2247.6 2005.9 2171.2 56.85 8.86 411 3080.01 15.86 0.31 3.80 0.930 0.076 0.126 2252.28 2329.69 2174.88 2057.88 683.25 0 0 0 11.92 15.96 15.88

3113.77 5253 201.21 0.92 0.00 2247.5 2325.8 2169.1 2058.5 683.2 49.47 13.80 423 3120.71 0.00 0.36 3.43 0.000 0.161 0.060 2247.84 2326.50 2169.19 2011.06 2169.25 0 0 0 30.00 15.88 15.93

3304.32 10919 230.08 1.03 -80.00 2245.6 2325.3 2165.9 2011.2 2169.1 32.00 8.40 461 3337.49 22.72 0.27 3.87 0.942 0.078 0.127 2131.44 2212.75 2050.12 2057.44 683.12 0 0 0 11.97 15.98 15.86

3365.96 5253 230.08 0.97 0.00 2129.9 2211.1 2048.7 2057.6 682.8 25.22 12.19 473 3372.85 0.00 0.26 3.44 0.000 0.161 0.059 2130.78 2212.88 2048.69 2021.38 2171.06 0 0 0 30.00 15.88 15.91

3557.83 10919 286.89 1.17 -80.00 2127.5 2210.9 2044.1 2021.4 2171.0 8.70 7.15 511 3611.10 41.13 0.40 3.89 0.941 0.074 0.127 1902.53 1993.50 1811.56 2085.62 685.44 0 0 0 11.85 15.99 15.82

3769.74 11431 491.73 1.57 0.00 1895.3 1988.4 1802.2 2085.5 685.3 3.44 0.50 553 3829.29 50.69 0.59 3.45 0.932 0.077 0.056 1609.03 1697.88 1520.19 2184.19 2171.50 0 0 0 11.81 15.93 15.95

3830 end climb: NO_VERTICAL_VELOCITY

state 3830 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	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	3072.1667	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	1796.9913	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	18.236351	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.212832	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	5.8747907	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	250522,020720,4737.262,-12255.732,1,1.9,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,021044,4737.301,-12255.685,2,1.9,4,15.5	MHEAD_RNG_PITCHd_Wd	202.6,2917,-17.1,-9.697,-20.82,2278,0.170
SPEED_LIMITS	0.168,0.255	D_GRID	160
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	1653448035,25.8,2,stop	_10V_AH	15.00,0.000
NET	xmit ok outbox0001.n 884 14	FG_AHR_24Vo	6.033
NET_PING	1653447491,28,1892.965454,19.200001,-2.517485	FG_AHR_10Vo	15.240
MODEM_MSG	CACST,8,1,20220525030500.790470,18,32767,45,0140,0000,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-1.8,0.48,-100,2.52,-01,0.52,56,925,0025,0,-1,00,00*24	MEM0	60132,1,0,0
FREEZE	2.83,13.348,-1.459,0,1,0	MEM1	65508,1,0,0
SM_CCo	4025.97,185.68,0.913,0,500.7,525.2,476.2,630.74	MEM2	944552,33,102136,61
SM_GC	1.66,0.00,12.81,0.09,0.000,0.069,0.139,498.8,523.3,474.2,196.2,2119.8,0,0,0,30.00,15.59,15.60	DATA_FILE_SIZE	16139,564
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	407021,0
IRIDIUM_FIX	4735.25,-12336.09,250522,005340	SDSIZE	3887104,3871232
TCM_TEMP	17.80	SDFILEDIR	64,1
SC_FREEKB	3878144	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	0,1653447601,47.61200,-122.96660,1.034,1515.0	CURRENT	0.051, 76.2,1
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	MAGCAL	1.000000,0.025809,-0.238035,-0.018281,1.101380,-0.072392,0.032041,-0.135449,1.054332,279.9,-868.9,-415.0,21,0.0351,1
HUMID	49.54	IMPLIED_C_PITCH	1786,17.60,296,1791.4,17.92
TEMP	10.41	IMPLIED_C_VBD	3036,22.475954,296,3053.9
INTERNAL_PRESSURE	7.98916	GPS	250522,032102,4737.021,-12256.009,2,0.8,29,15.5
_24V_AH	15.06,7.053

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	652	1132	11133.87	nil	0	0	0.00
Pitch_motor	30	262	119.54	nil	0	0	0.00
Roll_motor	86	199	260.62	nil	0	0	0.00
Iridium	138	216	451.74	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	2438	5	187.30	SciCon	3839	6	374.24
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1686	0	8.09
Compass	1135	5	85.13
RAFOS	1109	40	665.64
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
6.72	16386	-146.63	-1.12	0.00	496.3	511.9	480.6	186.2	2129.9	0.00	0.00	0	78.42	68.24	0.00	0.00	0.005	0.000	0.000	2440.25	2476.25	2404.25	186.44	2129.69	0	0	0	15.84	30.00	30.00
78.72	18467	-146.63	-1.12	0.00	2438.1	2474.4	2401.8	186.4	2129.3	3.15	-2.90	13	127.47	29.58	10.42	0.00	0.006	0.262	0.000	3668.12	3724.50	3611.75	1524.31	2129.44	0	0	0	15.90	15.74	30.00
310.93	676	-146.63	-1.07	-80.00	3670.9	3724.4	3617.4	1524.4	2128.8	26.26	-9.06	59	317.70	0.00	0.00	3.73	0.000	0.000	0.123	3671.34	3725.38	3617.31	1524.25	684.19	0	0	0	30.00	30.00	15.90
346.18	3205	-146.63	-0.96	0.00	3670.5	3724.5	3616.6	1524.2	684.1	29.83	-10.11	66	353.06	0.00	0.27	3.43	0.000	0.185	0.058	3672.22	3725.44	3619.00	1563.50	2170.81	0	0	0	30.00	15.89	15.95
533.73	420	-146.63	-1.00	80.00	3671.0	3724.8	3617.2	1563.1	2170.4	44.36	-7.66	103	540.43	0.00	0.00	3.59	0.000	0.000	0.129	3670.69	3724.25	3617.12	1563.62	3615.25	0	0	0	30.00	30.00	15.96
633.89	1060	-146.63	-1.00	0.00	3670.7	3723.9	3617.5	1563.2	3615.1	53.57	-9.28	123	639.88	0.00	0.00	3.48	0.000	0.000	0.054	3670.69	3724.44	3616.94	1563.50	2119.50	0	0	0	30.00	30.00	16.02
823.99	676	-146.63	-1.05	-80.00	3671.1	3724.4	3617.8	1563.4	2119.2	68.61	-7.96	143	831.04	0.00	0.00	3.66	0.000	0.000	0.126	3669.78	3723.25	3616.31	1563.44	684.62	0	0	0	30.00	30.00	16.01
863.75	1060	-146.63	-1.05	0.00	3670.9	3724.0	3617.8	1563.6	684.5	72.31	-9.13	151	871.21	0.00	0.00	3.41	0.000	0.000	0.057	3671.12	3724.44	3617.81	1563.69	2173.12	0	0	0	30.00	30.00	16.05
1059.51	4517	-146.63	-1.08	80.00	3671.4	3724.8	3617.9	1563.7	2172.4	88.75	-8.40	171	1067.02	0.00	0.28	3.56	0.000	0.079	0.128	3672.94	3726.00	3619.88	1518.00	3616.31	0	0	0	30.00	16.05	16.03
1084.19	1156	-146.63	-1.05	0.00	3671.1	3724.1	3618.2	1518.1	3616.6	91.44	-10.07	174	1090.26	0.00	0.00	3.45	0.000	0.000	0.055	3673.19	3725.56	3620.81	1517.62	2121.19	0	0	0	30.00	30.00	16.06
1274.21	2177	-146.63	-0.98	0.00	3671.2	3724.4	3617.9	1517.8	2121.1	112.11	-10.86	194	1276.08	0.00	0.35	0.00	0.000	0.175	0.000	3671.16	3724.69	3617.62	1559.06	2120.94	0	0	0	30.00	16.03	30.00
1464.18	292	-146.63	-0.98	80.00	3671.5	3724.5	3618.5	1559.4	2120.9	129.19	-9.07	213	1471.31	0.00	0.00	3.69	0.000	0.000	0.125	3670.72	3723.56	3617.88	1558.88	3617.31	0	0	0	30.00	30.00	16.05
1519.71	1028	-146.63	-0.98	0.00	3671.8	3723.9	3619.8	1558.9	3617.8	134.94	-10.50	224	1525.73	0.00	0.00	3.45	0.000	0.000	0.055	3671.97	3724.56	3619.38	1557.44	2122.88	0	0	0	30.00	30.00	16.10
1709.88	160	-146.63	-1.02	0.00	3672.1	3724.8	3619.4	1559.1	2123.5	152.22	-8.88	244	1711.45	0.00	0.00	0.00	0.000	0.000	0.000	3671.00	3724.12	3617.88	1559.25	2123.00	0	0	0	30.00	30.00	30.00
1806	end dive: TARGET_DEPTH_EXCEEDED
state	1806	begin apogee
1807.06	10243	0.00	-0.27	0.00	3671.8	3724.3	3619.3	1559.4	2179.4	160.64	-8.62	254	1915.73	101.40	1.12	0.10	1.133	0.147	0.199	3074.88	3129.56	3020.19	1729.25	2118.69	0	0	0	12.00	16.07	15.74
1917	end apogee: CONTROL_FINISHED_OK
state	1917	begin climb
1917.23	10759	146.63	1.12	-80.00	3071.2	3127.0	3015.4	1728.6	2118.7	164.02	0.00	264	2040.64	105.13	2.30	3.80	1.095	0.118	0.130	2470.53	2534.19	2406.88	2068.75	684.31	0	0	0	11.83	15.75	15.51
2063.40	5253	146.63	0.89	0.00	2467.1	2532.1	2402.1	2068.5	684.4	151.95	13.05	291	2071.12	0.00	0.49	3.49	0.000	0.164	0.060	2467.22	2532.38	2402.06	2005.88	2168.81	0	0	0	30.00	15.57	15.62
2259.09	8742	155.27	0.90	-80.00	2465.1	2532.4	2397.8	2005.9	2168.7	132.93	9.31	311	2275.77	7.88	0.00	3.84	0.807	0.000	0.127	2438.88	2509.25	2368.50	2005.81	681.75	0	0	0	11.82	30.00	15.75
2323.53	1156	155.27	0.84	0.00	2435.2	2505.5	2364.9	2006.1	681.7	125.94	11.26	324	2331.00	0.00	0.00	3.45	0.000	0.000	0.059	2436.62	2506.75	2366.50	2005.62	2170.62	0	0	0	30.00	30.00	15.83
2519.32	8870	170.64	0.89	-80.00	2434.8	2505.5	2364.0	2005.9	2170.6	107.98	9.01	344	2541.93	13.72	0.00	3.85	0.939	0.000	0.127	2375.00	2448.31	2301.69	2005.81	684.12	0	0	0	11.88	30.00	15.84
2584.67	1156	170.64	0.86	0.00	2371.8	2446.3	2297.3	2005.7	684.1	101.18	11.03	357	2592.08	0.00	0.00	3.43	0.000	0.000	0.060	2371.53	2445.94	2297.12	2005.38	2169.44	0	0	0	30.00	30.00	15.91
2780.47	8870	182.53	0.93	-80.00	2370.9	2445.9	2295.9	2005.8	2169.1	83.05	9.16	377	2798.25	10.68	0.00	3.88	0.879	0.000	0.128	2326.12	2402.19	2250.06	2005.81	684.38	0	0	0	12.15	30.00	15.90
2859.93	1028	182.53	0.93	0.00	2324.7	2400.7	2248.6	2005.8	684.2	74.46	11.38	392	2865.99	0.00	0.00	3.44	0.000	0.000	0.060	2324.38	2400.81	2247.94	2004.94	2171.06	0	0	0	30.00	30.00	15.94
3053.81	10919	201.21	1.04	-80.00	2324.0	2400.4	2247.6	2005.9	2171.2	56.85	8.86	411	3080.01	15.86	0.31	3.80	0.930	0.076	0.126	2252.28	2329.69	2174.88	2057.88	683.25	0	0	0	11.92	15.96	15.88
3113.77	5253	201.21	0.92	0.00	2247.5	2325.8	2169.1	2058.5	683.2	49.47	13.80	423	3120.71	0.00	0.36	3.43	0.000	0.161	0.060	2247.84	2326.50	2169.19	2011.06	2169.25	0	0	0	30.00	15.88	15.93
3304.32	10919	230.08	1.03	-80.00	2245.6	2325.3	2165.9	2011.2	2169.1	32.00	8.40	461	3337.49	22.72	0.27	3.87	0.942	0.078	0.127	2131.44	2212.75	2050.12	2057.44	683.12	0	0	0	11.97	15.98	15.86
3365.96	5253	230.08	0.97	0.00	2129.9	2211.1	2048.7	2057.6	682.8	25.22	12.19	473	3372.85	0.00	0.26	3.44	0.000	0.161	0.059	2130.78	2212.88	2048.69	2021.38	2171.06	0	0	0	30.00	15.88	15.91
3557.83	10919	286.89	1.17	-80.00	2127.5	2210.9	2044.1	2021.4	2171.0	8.70	7.15	511	3611.10	41.13	0.40	3.89	0.941	0.074	0.127	1902.53	1993.50	1811.56	2085.62	685.44	0	0	0	11.85	15.99	15.82
3769.74	11431	491.73	1.57	0.00	1895.3	1988.4	1802.2	2085.5	685.3	3.44	0.50	553	3829.29	50.69	0.59	3.45	0.932	0.077	0.056	1609.03	1697.88	1520.19	2184.19	2171.50	0	0	0	11.81	15.93	15.95
3830	end climb: NO_VERTICAL_VELOCITY
state	3830	begin surface