Glider dive log

HoodCanal 24May22 * SG240 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 2992.23 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 1785.6943 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 17.502232 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.038228 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 5.0332808 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 3 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.038228 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.0332808 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 17.502232 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 1785.6943 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 2992.23 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 3 MISSION 3 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240522,185135,4736.425,-12256.844,1,0.8,3,15.5 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 -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,185419,4736.436,-12256.818,2,0.7,4,15.5 MHEAD_RNG_PITCHd_Wd 172.4,839,-17.6,-9.697,-21.23,2171,0.133

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,-0.003704,0.034452,-0.009697,1.076684,-0.064315,0.005890,-0.050024,1.017013,32.937550,-907.433838,-436.004242

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET CACST,8,1,20220524195815.141240,06,23684,43,0261,0150,07,01,01,00,01,1,045,121,3,5,7,2,150,-0.9,2.01,-100,0.99,-01,0.11,63,10000,5000,0,5,01,01*48 _10V_AH 14.99,0.000

NET_PING 1653419896,28,747.412537,11.500000,-0.992440 FG_AHR_24Vo 5.186

NAV 1653422342,2.6,start FG_AHR_10Vo 15.069

MODEM_MSG CACST,8,1,20220524193403.176112,18,9431,39,0359,0000,246,01,01,00,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1E MEM0 60132,1,0,0

FREEZE 2.59,14.349,-1.436,0,1,0 MEM1 65508,1,0,0

SM_CCo 4064.91,187.99,0.918,0,500.9,531.2,470.5,611.07 MEM2 944384,34,102204,65

SM_GC 1.52,0.00,12.53,0.09,0.000,0.066,0.138,498.6,529.1,468.1,194.9,2117.8,0,0,0,30.00,15.58,15.59 DATA_FILE_SIZE 16135,540

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 375951,0

IRIDIUM_FIX 4738.80,-12300.63,240522,184946 SDSIZE 3887104,3872992

TCM_TEMP 17.70 SDFILEDIR 68,1

SC_FREEKB 3877824 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 2,1653420723,47.61200,-122.96660,123.196,180482.6 CURRENT 0.037,323.9,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,0.077970,-0.260370,-0.060964,1.088434,0.104168,0.076647,-0.215092,0.935116,366.5,-949.4,-324.8,24,0.0455,1

HUMID 49.21 IMPLIED_C_PITCH 1803,17.81,309,1794.2,17.65

TEMP 10.44 IMPLIED_C_VBD 3057,32.257885,309,3024.8

INTERNAL_PRESSURE 7.99696 GPS 240522,200447,4736.087,-12257.077,1,1.4,3,15.5

_24V_AH 15.03,6.101

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 633 1132 10786.39 nil 0 0 0.00

Pitch_motor 28 259 112.38 nil 0 0 0.00

Roll_motor 57 199 173.33 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 3.09 nil 0 0 0.00

Core 2187 5 167.92 SciCon 3868 6 376.76

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1826 0 8.76

Compass 1097 5 82.25

RAFOS 866 40 519.77

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

6.61 16386 -139.78 -1.18 0.00 497.3 525.1 469.6 188.5 2129.9 0.00 0.00 0 86.86 76.32 0.00 0.00 0.005 0.000 0.000 2681.66 2716.62 2646.69 188.75 2130.00 0 0 0 16.02 30.00 30.00

87.22 18727 -146.63 -1.18 80.00 2680.8 2714.9 2646.6 188.7 2129.2 3.27 -2.59 15 134.13 23.44 9.94 3.65 0.006 0.260 0.128 3589.72 3647.75 3531.69 1497.56 3617.12 0 0 0 16.03 15.87 15.94

274.12 3205 -146.63 -0.90 0.00 3589.8 3646.3 3533.4 1497.8 3617.1 22.53 -12.29 47 283.92 0.00 0.50 3.45 0.000 0.190 0.055 3591.38 3646.44 3536.31 1567.75 2118.94 0 0 0 30.00 15.92 15.98

467.96 32 -146.63 -0.90 0.00 3590.2 3646.9 3533.5 1567.6 2118.6 37.95 -7.41 86 472.49 0.00 0.00 0.00 0.000 0.000 0.000 3590.06 3647.19 3532.94 1568.31 2118.50 0 0 0 30.00 30.00 30.00

657.87 32 -146.63 -0.90 0.00 3590.7 3647.5 3533.9 1567.6 2118.6 50.86 -6.68 123 659.45 0.00 0.00 0.00 0.000 0.000 0.000 3590.06 3647.06 3533.06 1568.06 2118.75 0 0 0 30.00 30.00 30.00

847.88 548 -146.63 -0.90 -80.00 3590.8 3647.5 3534.2 1567.6 2118.5 64.56 -7.90 142 855.01 0.00 0.00 3.64 0.000 0.000 0.125 3591.88 3648.25 3535.50 1567.94 683.62 0 0 0 30.00 30.00 16.01

873.44 1060 -146.63 -0.90 0.00 3590.7 3647.1 3534.2 1567.9 683.9 66.84 -8.46 147 879.40 0.00 0.00 3.39 0.000 0.000 0.057 3590.81 3647.19 3534.44 1568.25 2173.06 0 0 0 30.00 30.00 16.06

1062.44 548 -146.63 -0.90 -80.00 3591.2 3648.0 3534.3 1567.9 2172.2 82.44 -8.28 167 1069.63 0.00 0.00 3.79 0.000 0.000 0.121 3589.91 3645.94 3533.88 1568.25 682.81 0 0 0 30.00 30.00 16.04

1082.33 1060 -146.63 -0.90 0.00 3591.4 3647.5 3535.4 1567.8 683.2 84.31 -8.57 171 1089.74 0.00 0.00 3.38 0.000 0.000 0.056 3591.69 3648.69 3534.69 1568.44 2174.25 0 0 0 30.00 30.00 16.08

1278.07 32 -146.63 -0.90 0.00 3591.6 3648.5 3534.7 1567.8 2173.7 100.25 -8.22 191 1279.64 0.00 0.00 0.00 0.000 0.000 0.000 3590.16 3646.88 3533.44 1568.12 2173.94 0 0 0 30.00 30.00 30.00

1468.08 32 -146.63 -0.90 0.00 3591.2 3647.9 3534.5 1568.0 2173.6 116.40 -8.62 210 1469.65 0.00 0.00 0.00 0.000 0.000 0.000 3590.62 3647.62 3533.62 1567.94 2174.00 0 0 0 30.00 30.00 30.00

1652.10 292 -146.63 -0.90 80.00 3591.3 3647.6 3535.0 1567.9 2174.1 131.81 -8.39 229 1658.14 0.00 0.00 3.54 0.000 0.000 0.130 3590.62 3647.12 3534.12 1567.62 3615.56 0 0 0 30.00 30.00 16.09

1682.11 1060 -146.63 -0.90 0.00 3591.5 3647.6 3535.5 1567.8 3615.2 134.76 -9.05 235 1688.09 0.00 0.00 3.44 0.000 0.000 0.057 3591.69 3647.62 3535.75 1568.00 2121.81 0 0 0 30.00 30.00 16.13

1872.12 32 -146.63 -0.90 0.00 3591.0 3647.2 3534.9 1567.9 2120.7 152.01 -8.57 255 1873.68 0.00 0.00 0.00 0.000 0.000 0.000 3591.12 3647.38 3534.88 1567.81 2121.38 0 0 0 30.00 30.00 30.00

1972 end dive: TARGET_DEPTH_EXCEEDED

state 1972 begin apogee

1973.40 10243 0.00 -0.29 0.00 3591.3 3647.6 3534.9 1568.1 2178.2 160.62 -8.53 265 2083.13 102.25 0.98 0.09 1.132 0.148 0.200 2989.66 3047.44 2931.88 1716.75 2118.12 0 0 0 12.02 16.09 15.77

2084 end apogee: CONTROL_FINISHED_OK

state 2084 begin climb

2084.27 10243 146.63 1.18 0.00 2989.2 3046.9 2931.6 1716.3 2118.6 164.47 0.00 275 2200.06 106.01 2.42 0.00 1.095 0.124 0.000 2390.16 2461.62 2318.69 2071.94 2117.94 0 0 0 11.90 15.76 30.00

2383.51 644 146.63 1.12 -80.00 2386.2 2462.4 2310.1 2072.4 2118.6 134.71 12.46 306 2390.69 0.00 0.00 3.76 0.000 0.000 0.128 2384.12 2460.81 2307.44 2072.88 684.38 0 0 0 30.00 30.00 15.73

2473.46 21639 146.63 0.93 0.00 2383.8 2458.7 2308.8 2072.0 683.9 121.41 14.85 324 2481.30 0.00 0.51 3.45 0.000 0.156 0.062 2383.81 2458.88 2308.75 2003.62 2168.94 0 0 0 30.00 15.78 15.83

2669.24 10403 161.75 1.04 0.00 2382.6 2458.9 2306.2 2003.6 2168.8 102.60 8.98 344 2684.03 12.22 0.26 0.00 0.913 0.080 0.000 2330.66 2406.69 2254.62 2048.94 2168.56 0 0 0 11.86 15.93 30.00

2872.12 516 161.75 1.04 -80.00 2328.7 2406.9 2250.5 2048.7 2168.1 80.87 10.54 365 2879.41 0.00 0.00 3.86 0.000 0.000 0.126 2326.81 2405.19 2248.44 2048.94 682.06 0 0 0 30.00 30.00 15.92

2957.90 5253 161.75 0.95 0.00 2327.3 2405.2 2249.3 2048.7 681.8 70.07 12.75 382 2965.17 0.00 0.31 3.43 0.000 0.159 0.062 2330.09 2405.56 2254.62 2007.94 2168.00 0 0 0 30.00 15.94 15.97

3152.96 10919 197.49 1.10 -80.00 2327.2 2405.2 2249.1 2008.2 2167.9 53.49 8.01 402 3190.78 27.53 0.32 3.83 0.976 0.076 0.126 2184.44 2265.31 2103.56 2063.44 683.38 0 0 0 11.96 16.03 15.90

3227.70 5253 197.49 1.03 0.00 2181.8 2262.7 2101.0 2062.9 683.1 44.73 13.25 416 3234.61 0.00 0.28 3.44 0.000 0.153 0.061 2181.84 2262.81 2100.88 2026.75 2168.44 0 0 0 30.00 15.92 15.95

3417.12 10919 222.57 1.18 -80.00 2179.9 2262.3 2097.6 2026.6 2168.4 27.57 8.52 454 3445.23 19.56 0.28 3.85 0.931 0.077 0.126 2085.81 2170.12 2001.50 2076.69 684.75 0 0 0 11.94 16.01 15.91

3508.70 1156 222.57 1.14 0.00 2080.1 2164.1 1996.2 2076.2 684.5 16.45 12.78 472 3515.39 0.00 0.00 3.43 0.000 0.000 0.061 2080.78 2165.50 1996.06 2076.88 2168.69 0 0 0 30.00 30.00 15.97

3698.88 10403 335.83 1.47 0.00 2078.0 2164.2 1991.8 2077.1 2168.9 2.43 4.36 510 3783.04 78.45 0.43 0.00 0.948 0.091 0.000 1622.91 1714.06 1531.75 2145.31 2169.50 0 0 0 11.89 16.01 30.00

3866 end climb: NO_VERTICAL_VELOCITY

state 3866 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	2992.23	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	1785.6943	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	17.502232	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.038228	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	5.0332808	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	240522,185135,4736.425,-12256.844,1,0.8,3,15.5	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	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,185419,4736.436,-12256.818,2,0.7,4,15.5	MHEAD_RNG_PITCHd_Wd	172.4,839,-17.6,-9.697,-21.23,2171,0.133
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.003704,0.034452,-0.009697,1.076684,-0.064315,0.005890,-0.050024,1.017013,32.937550,-907.433838,-436.004242
TGT_LATLONG	4736.000,-12257.000

NET	CACST,8,1,20220524195815.141240,06,23684,43,0261,0150,07,01,01,00,01,1,045,121,3,5,7,2,150,-0.9,2.01,-100,0.99,-01,0.11,63,10000,5000,0,5,01,01*48	_10V_AH	14.99,0.000
NET_PING	1653419896,28,747.412537,11.500000,-0.992440	FG_AHR_24Vo	5.186
NAV	1653422342,2.6,start	FG_AHR_10Vo	15.069
MODEM_MSG	CACST,8,1,20220524193403.176112,18,9431,39,0359,0000,246,01,01,00,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1E	MEM0	60132,1,0,0
FREEZE	2.59,14.349,-1.436,0,1,0	MEM1	65508,1,0,0
SM_CCo	4064.91,187.99,0.918,0,500.9,531.2,470.5,611.07	MEM2	944384,34,102204,65
SM_GC	1.52,0.00,12.53,0.09,0.000,0.066,0.138,498.6,529.1,468.1,194.9,2117.8,0,0,0,30.00,15.58,15.59	DATA_FILE_SIZE	16135,540
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	375951,0
IRIDIUM_FIX	4738.80,-12300.63,240522,184946	SDSIZE	3887104,3872992
TCM_TEMP	17.70	SDFILEDIR	68,1
SC_FREEKB	3877824	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	2,1653420723,47.61200,-122.96660,123.196,180482.6	CURRENT	0.037,323.9,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,0.077970,-0.260370,-0.060964,1.088434,0.104168,0.076647,-0.215092,0.935116,366.5,-949.4,-324.8,24,0.0455,1
HUMID	49.21	IMPLIED_C_PITCH	1803,17.81,309,1794.2,17.65
TEMP	10.44	IMPLIED_C_VBD	3057,32.257885,309,3024.8
INTERNAL_PRESSURE	7.99696	GPS	240522,200447,4736.087,-12257.077,1,1.4,3,15.5
_24V_AH	15.03,6.101

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	633	1132	10786.39	nil	0	0	0.00
Pitch_motor	28	259	112.38	nil	0	0	0.00
Roll_motor	57	199	173.33	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	3.09	nil	0	0	0.00
Core	2187	5	167.92	SciCon	3868	6	376.76
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1826	0	8.76
Compass	1097	5	82.25
RAFOS	866	40	519.77
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
6.61	16386	-139.78	-1.18	0.00	497.3	525.1	469.6	188.5	2129.9	0.00	0.00	0	86.86	76.32	0.00	0.00	0.005	0.000	0.000	2681.66	2716.62	2646.69	188.75	2130.00	0	0	0	16.02	30.00	30.00
87.22	18727	-146.63	-1.18	80.00	2680.8	2714.9	2646.6	188.7	2129.2	3.27	-2.59	15	134.13	23.44	9.94	3.65	0.006	0.260	0.128	3589.72	3647.75	3531.69	1497.56	3617.12	0	0	0	16.03	15.87	15.94
274.12	3205	-146.63	-0.90	0.00	3589.8	3646.3	3533.4	1497.8	3617.1	22.53	-12.29	47	283.92	0.00	0.50	3.45	0.000	0.190	0.055	3591.38	3646.44	3536.31	1567.75	2118.94	0	0	0	30.00	15.92	15.98
467.96	32	-146.63	-0.90	0.00	3590.2	3646.9	3533.5	1567.6	2118.6	37.95	-7.41	86	472.49	0.00	0.00	0.00	0.000	0.000	0.000	3590.06	3647.19	3532.94	1568.31	2118.50	0	0	0	30.00	30.00	30.00
657.87	32	-146.63	-0.90	0.00	3590.7	3647.5	3533.9	1567.6	2118.6	50.86	-6.68	123	659.45	0.00	0.00	0.00	0.000	0.000	0.000	3590.06	3647.06	3533.06	1568.06	2118.75	0	0	0	30.00	30.00	30.00
847.88	548	-146.63	-0.90	-80.00	3590.8	3647.5	3534.2	1567.6	2118.5	64.56	-7.90	142	855.01	0.00	0.00	3.64	0.000	0.000	0.125	3591.88	3648.25	3535.50	1567.94	683.62	0	0	0	30.00	30.00	16.01
873.44	1060	-146.63	-0.90	0.00	3590.7	3647.1	3534.2	1567.9	683.9	66.84	-8.46	147	879.40	0.00	0.00	3.39	0.000	0.000	0.057	3590.81	3647.19	3534.44	1568.25	2173.06	0	0	0	30.00	30.00	16.06
1062.44	548	-146.63	-0.90	-80.00	3591.2	3648.0	3534.3	1567.9	2172.2	82.44	-8.28	167	1069.63	0.00	0.00	3.79	0.000	0.000	0.121	3589.91	3645.94	3533.88	1568.25	682.81	0	0	0	30.00	30.00	16.04
1082.33	1060	-146.63	-0.90	0.00	3591.4	3647.5	3535.4	1567.8	683.2	84.31	-8.57	171	1089.74	0.00	0.00	3.38	0.000	0.000	0.056	3591.69	3648.69	3534.69	1568.44	2174.25	0	0	0	30.00	30.00	16.08
1278.07	32	-146.63	-0.90	0.00	3591.6	3648.5	3534.7	1567.8	2173.7	100.25	-8.22	191	1279.64	0.00	0.00	0.00	0.000	0.000	0.000	3590.16	3646.88	3533.44	1568.12	2173.94	0	0	0	30.00	30.00	30.00
1468.08	32	-146.63	-0.90	0.00	3591.2	3647.9	3534.5	1568.0	2173.6	116.40	-8.62	210	1469.65	0.00	0.00	0.00	0.000	0.000	0.000	3590.62	3647.62	3533.62	1567.94	2174.00	0	0	0	30.00	30.00	30.00
1652.10	292	-146.63	-0.90	80.00	3591.3	3647.6	3535.0	1567.9	2174.1	131.81	-8.39	229	1658.14	0.00	0.00	3.54	0.000	0.000	0.130	3590.62	3647.12	3534.12	1567.62	3615.56	0	0	0	30.00	30.00	16.09
1682.11	1060	-146.63	-0.90	0.00	3591.5	3647.6	3535.5	1567.8	3615.2	134.76	-9.05	235	1688.09	0.00	0.00	3.44	0.000	0.000	0.057	3591.69	3647.62	3535.75	1568.00	2121.81	0	0	0	30.00	30.00	16.13
1872.12	32	-146.63	-0.90	0.00	3591.0	3647.2	3534.9	1567.9	2120.7	152.01	-8.57	255	1873.68	0.00	0.00	0.00	0.000	0.000	0.000	3591.12	3647.38	3534.88	1567.81	2121.38	0	0	0	30.00	30.00	30.00
1972	end dive: TARGET_DEPTH_EXCEEDED
state	1972	begin apogee
1973.40	10243	0.00	-0.29	0.00	3591.3	3647.6	3534.9	1568.1	2178.2	160.62	-8.53	265	2083.13	102.25	0.98	0.09	1.132	0.148	0.200	2989.66	3047.44	2931.88	1716.75	2118.12	0	0	0	12.02	16.09	15.77
2084	end apogee: CONTROL_FINISHED_OK
state	2084	begin climb
2084.27	10243	146.63	1.18	0.00	2989.2	3046.9	2931.6	1716.3	2118.6	164.47	0.00	275	2200.06	106.01	2.42	0.00	1.095	0.124	0.000	2390.16	2461.62	2318.69	2071.94	2117.94	0	0	0	11.90	15.76	30.00
2383.51	644	146.63	1.12	-80.00	2386.2	2462.4	2310.1	2072.4	2118.6	134.71	12.46	306	2390.69	0.00	0.00	3.76	0.000	0.000	0.128	2384.12	2460.81	2307.44	2072.88	684.38	0	0	0	30.00	30.00	15.73
2473.46	21639	146.63	0.93	0.00	2383.8	2458.7	2308.8	2072.0	683.9	121.41	14.85	324	2481.30	0.00	0.51	3.45	0.000	0.156	0.062	2383.81	2458.88	2308.75	2003.62	2168.94	0	0	0	30.00	15.78	15.83
2669.24	10403	161.75	1.04	0.00	2382.6	2458.9	2306.2	2003.6	2168.8	102.60	8.98	344	2684.03	12.22	0.26	0.00	0.913	0.080	0.000	2330.66	2406.69	2254.62	2048.94	2168.56	0	0	0	11.86	15.93	30.00
2872.12	516	161.75	1.04	-80.00	2328.7	2406.9	2250.5	2048.7	2168.1	80.87	10.54	365	2879.41	0.00	0.00	3.86	0.000	0.000	0.126	2326.81	2405.19	2248.44	2048.94	682.06	0	0	0	30.00	30.00	15.92
2957.90	5253	161.75	0.95	0.00	2327.3	2405.2	2249.3	2048.7	681.8	70.07	12.75	382	2965.17	0.00	0.31	3.43	0.000	0.159	0.062	2330.09	2405.56	2254.62	2007.94	2168.00	0	0	0	30.00	15.94	15.97
3152.96	10919	197.49	1.10	-80.00	2327.2	2405.2	2249.1	2008.2	2167.9	53.49	8.01	402	3190.78	27.53	0.32	3.83	0.976	0.076	0.126	2184.44	2265.31	2103.56	2063.44	683.38	0	0	0	11.96	16.03	15.90
3227.70	5253	197.49	1.03	0.00	2181.8	2262.7	2101.0	2062.9	683.1	44.73	13.25	416	3234.61	0.00	0.28	3.44	0.000	0.153	0.061	2181.84	2262.81	2100.88	2026.75	2168.44	0	0	0	30.00	15.92	15.95
3417.12	10919	222.57	1.18	-80.00	2179.9	2262.3	2097.6	2026.6	2168.4	27.57	8.52	454	3445.23	19.56	0.28	3.85	0.931	0.077	0.126	2085.81	2170.12	2001.50	2076.69	684.75	0	0	0	11.94	16.01	15.91
3508.70	1156	222.57	1.14	0.00	2080.1	2164.1	1996.2	2076.2	684.5	16.45	12.78	472	3515.39	0.00	0.00	3.43	0.000	0.000	0.061	2080.78	2165.50	1996.06	2076.88	2168.69	0	0	0	30.00	30.00	15.97
3698.88	10403	335.83	1.47	0.00	2078.0	2164.2	1991.8	2077.1	2168.9	2.43	4.36	510	3783.04	78.45	0.43	0.00	0.948	0.091	0.000	1622.91	1714.06	1531.75	2145.31	2169.50	0	0	0	11.89	16.01	30.00
3866	end climb: NO_VERTICAL_VELOCITY
state	3866	begin surface