Glider dive log

HoodCanal 21May22 * SG241 * Dive index * Mission links * Dive 2 * 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 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 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 170 COMM_SEQ 15 C_VBD 3000.0796 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 70 T_RSLEEP 3 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 1731.9854 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 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 23 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.469887 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 23.554901 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 -188.51822 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 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 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 18.469887 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 23.554901 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 23 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 15 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 1731.9854 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 70

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -188.51822 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 3000.0796 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 3 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 2 MISSION 4 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 210522,165801,4736.543,-12256.795,2,1.5,5,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,170232,4736.524,-12256.815,3,1.5,5,15.5 MHEAD_RNG_PITCHd_Wd 177.2,997,-17.1,-9.697,-20.82,2278,0.134

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220521180020.861072,06,688,28,0116,0150,74,01,01,00,01,1,008,121,3,5,7,2,150,5.4,1.78,-100,1.22,-01,-0.08,56,10000,5000,0,5,01,01*4B FG_AHR_24Vo 23.726

NET_PING 1653156014,25,1903.524048,12.000000,-0.215958 FG_AHR_10Vo 18.503

NAV 1653155946,41.6,start MEM0 60148,1,0,0

FINISH 1.5,1.021516 MEM1 65508,1,0,0

SM_CCo 4044.60,239.20,0.930,0,541.7,616.6,466.7,603.03 MEM2 944708,31,101960,64

SM_GC 1.51,239.20,11.74,0.09,0.930,0.097,0.147,541.7,616.6,466.7,192.4,2180.6,0,0,0,11.67,15.87,15.89 DATA_FILE_SIZE 16131,540

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 336187,0

IRIDIUM_FIX 4735.53,-12254.47,210522,165419 SDSIZE 3887104,3873248

TCM_TEMP 12.61 SDFILEDIR 49,1

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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.042, 75.4,1

HUMID 48.22 MAGCAL 1.000000,0.012212,-0.000804,-0.018407,1.076714,-0.011113,0.012053,-0.061866,1.064122,464.5,-1301.0,-268.8,20,0.0271,1

TEMP 9.91 IMPLIED_C_PITCH 1754,18.30,305,1743.0,21.00

INTERNAL_PRESSURE 8.06788 IMPLIED_C_VBD 2934,29.725107,305,2967.1

_24V_AH 14.73,3.567 GPS 210522,181057,4736.118,-12256.763,9,1.6,13,15.5

_10V_AH 14.73,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 690 1141 11607.22 nil 0 0 0.00

Pitch_motor 27 281 114.26 nil 0 0 0.00

Roll_motor 78 184 212.55 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 14 15 3.26 nil 0 0 0.00

Core 2053 5 154.85 SciCon 3781 6 382.67

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1786 0 8.42

Compass 1079 5 79.51

RAFOS 1106 40 652.24

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.54 16386 -146.63 -0.92 0.00 537.9 613.8 461.9 199.8 2183.8 0.00 0.00 0 125.99 116.57 0.00 0.00 0.005 0.000 0.000 3030.66 2997.69 3063.62 199.81 2184.19 0 0 0 15.95 30.00 30.00

126.23 18983 -146.63 -0.92 -80.00 3029.5 2997.1 3061.9 200.0 2184.0 3.25 -2.64 23 162.53 18.01 10.45 3.71 0.006 0.282 0.115 3597.28 3588.31 3606.25 1507.19 682.12 0 0 0 15.96 15.78 15.88

350.62 3205 -146.63 -0.79 0.00 3598.0 3595.1 3600.9 1506.8 682.2 27.64 -11.41 68 356.32 0.00 0.23 3.44 0.000 0.193 0.051 3599.84 3596.75 3602.94 1541.50 2174.75 0 0 0 30.00 15.86 15.94

539.56 292 -146.63 -0.79 80.00 3598.4 3596.6 3600.2 1541.3 2174.6 43.60 -7.74 105 545.19 0.00 0.00 3.53 0.000 0.000 0.115 3598.56 3596.50 3600.62 1541.44 3617.81 0 0 0 30.00 30.00 15.92

619.58 1188 -146.63 -0.76 0.00 3598.2 3595.9 3600.5 1541.2 3618.2 50.72 -9.06 121 624.45 0.00 0.00 3.44 0.000 0.000 0.053 3599.22 3597.06 3601.38 1541.62 2119.75 0 0 0 30.00 30.00 15.95

809.59 676 -146.63 -0.80 -80.00 3598.3 3596.1 3600.5 1540.8 2119.0 66.40 -8.41 141 814.48 0.00 0.00 3.55 0.000 0.000 0.118 3598.75 3596.81 3600.69 1541.69 682.06 0 0 0 30.00 30.00 15.94

849.58 1060 -146.63 -0.80 0.00 3598.9 3597.4 3600.4 1541.4 682.1 70.25 -9.60 149 854.47 0.00 0.00 3.42 0.000 0.000 0.051 3598.50 3596.94 3600.06 1541.81 2176.56 0 0 0 30.00 30.00 15.97

1039.93 420 -146.63 -0.85 80.00 3598.5 3597.4 3599.7 1541.1 2177.5 86.14 -8.48 169 1045.48 0.00 0.00 3.49 0.000 0.000 0.114 3598.34 3596.88 3599.81 1541.19 3621.50 0 0 0 30.00 30.00 15.97

1134.59 1060 -146.63 -0.85 0.00 3598.4 3597.1 3599.8 1541.1 3621.2 95.20 -9.49 188 1139.48 0.00 0.00 3.42 0.000 0.000 0.052 3600.28 3598.62 3601.94 1541.56 2116.44 0 0 0 30.00 30.00 16.02

1324.63 4517 -146.63 -0.92 80.00 3598.6 3597.1 3600.1 1541.2 2115.6 110.80 -8.13 208 1330.61 0.00 0.29 3.64 0.000 0.095 0.111 3599.16 3598.25 3600.06 1496.81 3617.69 0 0 0 30.00 16.03 16.02

1369.67 3205 -146.63 -0.80 0.00 3598.5 3596.9 3600.0 1497.1 3617.6 115.68 -11.43 217 1374.60 0.00 0.34 3.40 0.000 0.184 0.052 3597.56 3596.31 3598.81 1539.19 2119.75 0 0 0 30.00 16.00 16.05

1559.64 420 -146.63 -0.85 80.00 3598.5 3597.0 3600.1 1538.8 2118.4 131.59 -7.86 237 1564.54 0.00 0.00 3.64 0.000 0.000 0.113 3600.06 3598.56 3601.56 1539.88 3617.19 0 0 0 30.00 30.00 16.04

1609.62 1060 -146.63 -0.85 0.00 3598.5 3597.6 3599.4 1539.6 3616.8 136.20 -9.39 247 1614.52 0.00 0.00 3.40 0.000 0.000 0.053 3599.12 3598.38 3599.88 1539.69 2117.50 0 0 0 30.00 30.00 16.07

1799.66 4517 -146.63 -0.92 80.00 3598.4 3597.2 3599.6 1539.1 2118.4 151.30 -7.90 267 1805.63 0.00 0.27 3.63 0.000 0.097 0.112 3598.94 3597.75 3600.12 1496.00 3618.06 0 0 0 30.00 16.07 16.06

1844.64 3205 -146.63 -0.82 0.00 3598.3 3597.1 3599.6 1496.0 3617.3 156.37 -11.74 276 1849.60 0.00 0.31 3.39 0.000 0.183 0.053 3599.44 3598.25 3600.62 1533.69 2118.12 0 0 0 30.00 16.04 16.09

1884 end dive: TARGET_DEPTH_EXCEEDED

state 1884 begin apogee

1885.77 10243 0.00 -0.22 0.00 3598.4 3597.4 3599.4 1533.0 2182.4 160.26 -9.41 281 1996.94 107.84 1.01 0.10 1.141 0.160 0.184 3000.22 3053.56 2946.88 1680.31 2113.00 0 0 0 11.58 16.02 15.70

1997 end apogee: CONTROL_FINISHED_OK

state 1997 begin climb

1997.80 10243 146.63 0.92 0.00 2999.2 3052.8 2945.7 1679.9 2112.9 164.29 0.00 292 2117.22 113.42 1.91 0.00 1.085 0.128 0.000 2402.44 2473.19 2331.69 1956.81 2113.06 0 0 0 11.61 15.69 30.00

2299.64 8486 165.86 0.95 80.00 2395.1 2459.9 2330.3 1955.9 2113.9 142.98 8.83 323 2321.71 16.45 0.00 3.76 0.981 0.000 0.117 2323.16 2392.75 2253.56 1956.25 3613.94 0 0 0 11.45 30.00 15.65

2354.79 1156 165.86 0.90 0.00 2320.8 2388.8 2252.8 1956.3 3613.7 137.55 10.34 334 2359.69 0.00 0.00 3.48 0.000 0.000 0.054 2323.44 2391.38 2255.50 1956.25 2122.00 0 0 0 30.00 30.00 15.71

2544.80 8486 183.40 0.92 80.00 2320.0 2387.1 2252.8 1956.8 2121.2 119.97 8.91 354 2565.84 15.58 0.00 3.72 0.970 0.000 0.118 2252.19 2323.25 2181.12 1956.38 3617.38 0 0 0 11.57 30.00 15.75

2614.81 1028 183.40 0.92 0.00 2248.8 2318.8 2178.8 1956.2 3617.4 112.66 11.09 368 2619.72 0.00 0.00 3.46 0.000 0.000 0.054 2251.25 2321.06 2181.44 1956.94 2122.12 0 0 0 30.00 30.00 15.82

2804.83 128 183.40 0.97 0.00 2248.8 2318.2 2179.3 1956.1 2120.9 93.97 9.72 388 2806.17 0.00 0.00 0.00 0.000 0.000 0.000 2247.53 2317.25 2177.81 1956.31 2121.12 0 0 0 30.00 30.00 30.00

2994.86 10663 198.68 1.05 80.00 2248.3 2317.5 2179.2 1957.0 2120.8 76.59 9.01 407 3015.89 13.81 0.17 3.68 0.936 0.103 0.117 2188.94 2261.75 2116.12 1992.88 3617.38 0 0 0 11.56 15.95 15.88

3069.13 5253 198.68 0.97 0.00 2187.1 2258.8 2115.4 1992.9 3617.4 68.20 11.90 422 3075.55 0.00 0.29 3.44 0.000 0.182 0.054 2187.72 2259.25 2116.19 1959.44 2121.00 0 0 0 30.00 15.86 15.93

3264.88 10403 231.41 1.10 0.00 2187.0 2258.5 2115.5 1958.5 2120.1 52.18 8.23 442 3295.18 25.86 0.29 0.00 0.979 0.090 0.000 2057.72 2139.88 1975.56 2004.44 2120.19 0 0 0 11.64 15.97 30.00

3476.52 0 231.41 1.10 0.00 2052.8 2131.9 1973.8 2004.2 2119.4 28.99 11.42 479 3480.64 0.00 0.00 0.00 0.000 0.000 0.000 2052.88 2132.12 1973.62 2004.31 2120.50 0 0 0 30.00 30.00 30.00

3661.57 8614 252.72 1.18 80.00 2052.0 2130.1 1974.0 2004.2 2119.8 11.18 8.74 516 3687.43 17.88 0.00 3.70 0.920 0.000 0.118 1970.84 2055.19 1886.50 2004.06 3618.62 0 0 0 11.66 30.00 15.87

3766.58 11431 293.54 1.29 0.00 1965.9 2047.6 1884.2 2004.8 3619.4 2.38 7.86 537 3777.46 5.89 0.23 3.45 0.661 0.093 0.054 1949.50 2032.75 1866.25 2050.94 2117.88 0 0 0 11.63 15.89 15.91

3777 end climb: SURFACE_DEPTH_REACHED

state 3777 begin surface coast

3781 end surface coast: CONTROL_FINISHED_OK

state 3781 begin surface

ID	241	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	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	170	COMM_SEQ	15	C_VBD	3000.0796	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	70	T_RSLEEP	3	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	1731.9854	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	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	23	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.469887	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	23.554901	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	-188.51822	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	210522,165801,4736.543,-12256.795,2,1.5,5,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,170232,4736.524,-12256.815,3,1.5,5,15.5	MHEAD_RNG_PITCHd_Wd	177.2,997,-17.1,-9.697,-20.82,2278,0.134
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220521180020.861072,06,688,28,0116,0150,74,01,01,00,01,1,008,121,3,5,7,2,150,5.4,1.78,-100,1.22,-01,-0.08,56,10000,5000,0,5,01,01*4B	FG_AHR_24Vo	23.726
NET_PING	1653156014,25,1903.524048,12.000000,-0.215958	FG_AHR_10Vo	18.503
NAV	1653155946,41.6,start	MEM0	60148,1,0,0
FINISH	1.5,1.021516	MEM1	65508,1,0,0
SM_CCo	4044.60,239.20,0.930,0,541.7,616.6,466.7,603.03	MEM2	944708,31,101960,64
SM_GC	1.51,239.20,11.74,0.09,0.930,0.097,0.147,541.7,616.6,466.7,192.4,2180.6,0,0,0,11.67,15.87,15.89	DATA_FILE_SIZE	16131,540
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	336187,0
IRIDIUM_FIX	4735.53,-12254.47,210522,165419	SDSIZE	3887104,3873248
TCM_TEMP	12.61	SDFILEDIR	49,1
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
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.042, 75.4,1
HUMID	48.22	MAGCAL	1.000000,0.012212,-0.000804,-0.018407,1.076714,-0.011113,0.012053,-0.061866,1.064122,464.5,-1301.0,-268.8,20,0.0271,1
TEMP	9.91	IMPLIED_C_PITCH	1754,18.30,305,1743.0,21.00
INTERNAL_PRESSURE	8.06788	IMPLIED_C_VBD	2934,29.725107,305,2967.1
_24V_AH	14.73,3.567	GPS	210522,181057,4736.118,-12256.763,9,1.6,13,15.5
_10V_AH	14.73,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	690	1141	11607.22	nil	0	0	0.00
Pitch_motor	27	281	114.26	nil	0	0	0.00
Roll_motor	78	184	212.55	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	14	15	3.26	nil	0	0	0.00
Core	2053	5	154.85	SciCon	3781	6	382.67
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1786	0	8.42
Compass	1079	5	79.51
RAFOS	1106	40	652.24
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.54	16386	-146.63	-0.92	0.00	537.9	613.8	461.9	199.8	2183.8	0.00	0.00	0	125.99	116.57	0.00	0.00	0.005	0.000	0.000	3030.66	2997.69	3063.62	199.81	2184.19	0	0	0	15.95	30.00	30.00
126.23	18983	-146.63	-0.92	-80.00	3029.5	2997.1	3061.9	200.0	2184.0	3.25	-2.64	23	162.53	18.01	10.45	3.71	0.006	0.282	0.115	3597.28	3588.31	3606.25	1507.19	682.12	0	0	0	15.96	15.78	15.88
350.62	3205	-146.63	-0.79	0.00	3598.0	3595.1	3600.9	1506.8	682.2	27.64	-11.41	68	356.32	0.00	0.23	3.44	0.000	0.193	0.051	3599.84	3596.75	3602.94	1541.50	2174.75	0	0	0	30.00	15.86	15.94
539.56	292	-146.63	-0.79	80.00	3598.4	3596.6	3600.2	1541.3	2174.6	43.60	-7.74	105	545.19	0.00	0.00	3.53	0.000	0.000	0.115	3598.56	3596.50	3600.62	1541.44	3617.81	0	0	0	30.00	30.00	15.92
619.58	1188	-146.63	-0.76	0.00	3598.2	3595.9	3600.5	1541.2	3618.2	50.72	-9.06	121	624.45	0.00	0.00	3.44	0.000	0.000	0.053	3599.22	3597.06	3601.38	1541.62	2119.75	0	0	0	30.00	30.00	15.95
809.59	676	-146.63	-0.80	-80.00	3598.3	3596.1	3600.5	1540.8	2119.0	66.40	-8.41	141	814.48	0.00	0.00	3.55	0.000	0.000	0.118	3598.75	3596.81	3600.69	1541.69	682.06	0	0	0	30.00	30.00	15.94
849.58	1060	-146.63	-0.80	0.00	3598.9	3597.4	3600.4	1541.4	682.1	70.25	-9.60	149	854.47	0.00	0.00	3.42	0.000	0.000	0.051	3598.50	3596.94	3600.06	1541.81	2176.56	0	0	0	30.00	30.00	15.97
1039.93	420	-146.63	-0.85	80.00	3598.5	3597.4	3599.7	1541.1	2177.5	86.14	-8.48	169	1045.48	0.00	0.00	3.49	0.000	0.000	0.114	3598.34	3596.88	3599.81	1541.19	3621.50	0	0	0	30.00	30.00	15.97
1134.59	1060	-146.63	-0.85	0.00	3598.4	3597.1	3599.8	1541.1	3621.2	95.20	-9.49	188	1139.48	0.00	0.00	3.42	0.000	0.000	0.052	3600.28	3598.62	3601.94	1541.56	2116.44	0	0	0	30.00	30.00	16.02
1324.63	4517	-146.63	-0.92	80.00	3598.6	3597.1	3600.1	1541.2	2115.6	110.80	-8.13	208	1330.61	0.00	0.29	3.64	0.000	0.095	0.111	3599.16	3598.25	3600.06	1496.81	3617.69	0	0	0	30.00	16.03	16.02
1369.67	3205	-146.63	-0.80	0.00	3598.5	3596.9	3600.0	1497.1	3617.6	115.68	-11.43	217	1374.60	0.00	0.34	3.40	0.000	0.184	0.052	3597.56	3596.31	3598.81	1539.19	2119.75	0	0	0	30.00	16.00	16.05
1559.64	420	-146.63	-0.85	80.00	3598.5	3597.0	3600.1	1538.8	2118.4	131.59	-7.86	237	1564.54	0.00	0.00	3.64	0.000	0.000	0.113	3600.06	3598.56	3601.56	1539.88	3617.19	0	0	0	30.00	30.00	16.04
1609.62	1060	-146.63	-0.85	0.00	3598.5	3597.6	3599.4	1539.6	3616.8	136.20	-9.39	247	1614.52	0.00	0.00	3.40	0.000	0.000	0.053	3599.12	3598.38	3599.88	1539.69	2117.50	0	0	0	30.00	30.00	16.07
1799.66	4517	-146.63	-0.92	80.00	3598.4	3597.2	3599.6	1539.1	2118.4	151.30	-7.90	267	1805.63	0.00	0.27	3.63	0.000	0.097	0.112	3598.94	3597.75	3600.12	1496.00	3618.06	0	0	0	30.00	16.07	16.06
1844.64	3205	-146.63	-0.82	0.00	3598.3	3597.1	3599.6	1496.0	3617.3	156.37	-11.74	276	1849.60	0.00	0.31	3.39	0.000	0.183	0.053	3599.44	3598.25	3600.62	1533.69	2118.12	0	0	0	30.00	16.04	16.09
1884	end dive: TARGET_DEPTH_EXCEEDED
state	1884	begin apogee
1885.77	10243	0.00	-0.22	0.00	3598.4	3597.4	3599.4	1533.0	2182.4	160.26	-9.41	281	1996.94	107.84	1.01	0.10	1.141	0.160	0.184	3000.22	3053.56	2946.88	1680.31	2113.00	0	0	0	11.58	16.02	15.70
1997	end apogee: CONTROL_FINISHED_OK
state	1997	begin climb
1997.80	10243	146.63	0.92	0.00	2999.2	3052.8	2945.7	1679.9	2112.9	164.29	0.00	292	2117.22	113.42	1.91	0.00	1.085	0.128	0.000	2402.44	2473.19	2331.69	1956.81	2113.06	0	0	0	11.61	15.69	30.00
2299.64	8486	165.86	0.95	80.00	2395.1	2459.9	2330.3	1955.9	2113.9	142.98	8.83	323	2321.71	16.45	0.00	3.76	0.981	0.000	0.117	2323.16	2392.75	2253.56	1956.25	3613.94	0	0	0	11.45	30.00	15.65
2354.79	1156	165.86	0.90	0.00	2320.8	2388.8	2252.8	1956.3	3613.7	137.55	10.34	334	2359.69	0.00	0.00	3.48	0.000	0.000	0.054	2323.44	2391.38	2255.50	1956.25	2122.00	0	0	0	30.00	30.00	15.71
2544.80	8486	183.40	0.92	80.00	2320.0	2387.1	2252.8	1956.8	2121.2	119.97	8.91	354	2565.84	15.58	0.00	3.72	0.970	0.000	0.118	2252.19	2323.25	2181.12	1956.38	3617.38	0	0	0	11.57	30.00	15.75
2614.81	1028	183.40	0.92	0.00	2248.8	2318.8	2178.8	1956.2	3617.4	112.66	11.09	368	2619.72	0.00	0.00	3.46	0.000	0.000	0.054	2251.25	2321.06	2181.44	1956.94	2122.12	0	0	0	30.00	30.00	15.82
2804.83	128	183.40	0.97	0.00	2248.8	2318.2	2179.3	1956.1	2120.9	93.97	9.72	388	2806.17	0.00	0.00	0.00	0.000	0.000	0.000	2247.53	2317.25	2177.81	1956.31	2121.12	0	0	0	30.00	30.00	30.00
2994.86	10663	198.68	1.05	80.00	2248.3	2317.5	2179.2	1957.0	2120.8	76.59	9.01	407	3015.89	13.81	0.17	3.68	0.936	0.103	0.117	2188.94	2261.75	2116.12	1992.88	3617.38	0	0	0	11.56	15.95	15.88
3069.13	5253	198.68	0.97	0.00	2187.1	2258.8	2115.4	1992.9	3617.4	68.20	11.90	422	3075.55	0.00	0.29	3.44	0.000	0.182	0.054	2187.72	2259.25	2116.19	1959.44	2121.00	0	0	0	30.00	15.86	15.93
3264.88	10403	231.41	1.10	0.00	2187.0	2258.5	2115.5	1958.5	2120.1	52.18	8.23	442	3295.18	25.86	0.29	0.00	0.979	0.090	0.000	2057.72	2139.88	1975.56	2004.44	2120.19	0	0	0	11.64	15.97	30.00
3476.52	0	231.41	1.10	0.00	2052.8	2131.9	1973.8	2004.2	2119.4	28.99	11.42	479	3480.64	0.00	0.00	0.00	0.000	0.000	0.000	2052.88	2132.12	1973.62	2004.31	2120.50	0	0	0	30.00	30.00	30.00
3661.57	8614	252.72	1.18	80.00	2052.0	2130.1	1974.0	2004.2	2119.8	11.18	8.74	516	3687.43	17.88	0.00	3.70	0.920	0.000	0.118	1970.84	2055.19	1886.50	2004.06	3618.62	0	0	0	11.66	30.00	15.87
3766.58	11431	293.54	1.29	0.00	1965.9	2047.6	1884.2	2004.8	3619.4	2.38	7.86	537	3777.46	5.89	0.23	3.45	0.661	0.093	0.054	1949.50	2032.75	1866.25	2050.94	2117.88	0	0	0	11.63	15.89	15.91
3777	end climb: SURFACE_DEPTH_REACHED
state	3777	begin surface coast
3781	end surface coast: CONTROL_FINISHED_OK
state	3781	begin surface