Glider dive log

HoodCanal 24May22 * SG240 * Dive index * Mission links * Dive 4 * 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 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 4 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 3024.8313 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 1794.2076 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 17.654175 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.071753 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 5.1946096 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 4 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 15.071753 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.1946096 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 17.654175 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 1794.2076 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 3024.8313 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 4 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 240522,200447,4736.087,-12257.077,1,1.4,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,200814,4736.106,-12257.039,3,1.4,4,15.5 MHEAD_RNG_PITCHd_Wd 17.6,1838,-17.1,-9.697,-20.82,2278,0.135

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME N IRON 1.000000,0.077970,-0.260370,-0.060964,1.088434,0.104168,0.076647,-0.215092,0.935116,366.482788,-949.446899,-324.837860

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653426434,8.8,0,stop FG_AHR_24Vo 5.347

NET CACST,8,1,20220524205815.512376,06,32767,45,0136,0150,07,00,00,00,00,1,045,121,3,5,7,0,150,16.4,7.19,-100,-4.19,-01,-1.66,64,10000,5000,0,5,01,01*5D FG_AHR_10Vo 15.100

NET_PING 1653425294,28,1195.801514,13.000000,-1.588161 MEM0 60132,1,0,0

FINISH 1.8,1.019151 MEM1 65508,1,0,0

SM_CCo 3877.32,123.07,0.916,0,565.2,582.9,547.6,603.13 MEM2 944348,35,102220,65

SM_GC 1.60,123.07,12.62,0.09,0.916,0.071,0.157,565.2,582.9,547.6,190.1,2176.2,0,0,0,11.77,15.66,15.67 DATA_FILE_SIZE 16150,540

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 383309,0

IRIDIUM_FIX 4735.53,-12254.47,240522,185206 SDSIZE 3887104,3872640

TCM_TEMP 17.54 SDFILEDIR 77,1

SC_FREEKB 3877504 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 0.040, 98.7,1

HUMID 49.56 MAGCAL 1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.0,-890.6,-433.7,33,0.0320,1

TEMP 9.95 IMPLIED_C_PITCH 1804,18.05,290,1799.0,17.85

INTERNAL_PRESSURE 7.97873 IMPLIED_C_VBD 3026,25.537355,290,3025.2

_24V_AH 14.92,6.289 GPS 240522,211401,4736.415,-12256.592,2,1.1,19,15.5

_10V_AH 14.90,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 630 1132 10659.48 nil 0 0 0.00

Pitch_motor 29 263 116.98 nil 0 0 0.00

Roll_motor 80 193 232.53 nil 0 0 0.00

Iridium 140 216 452.61 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 2379 5 181.56 SciCon 3733 6 358.43

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1551 0 7.40

Compass 1081 5 80.60

RAFOS 1109 40 661.50

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 -146.63 -1.15 0.00 497.6 521.3 473.9 194.9 2167.6 0.00 0.00 0 71.93 62.11 0.00 0.00 0.005 0.000 0.000 2312.06 2354.25 2269.88 195.00 2167.31 0 0 0 15.68 30.00 30.00

72.23 18983 -146.63 -1.15 -80.00 2311.4 2353.3 2269.5 195.1 2168.1 3.13 -2.27 11 133.25 36.32 10.18 3.80 0.005 0.263 0.119 3621.38 3678.19 3564.56 1514.75 682.12 0 0 0 15.90 15.72 15.81

361.75 3205 -146.63 -0.94 0.00 3623.1 3677.2 3569.0 1514.1 682.2 36.73 -11.43 68 368.68 0.00 0.37 3.41 0.000 0.191 0.059 3623.50 3678.31 3568.69 1566.31 2170.44 0 0 0 30.00 15.87 15.95

562.63 548 -146.63 -0.94 -80.00 3623.4 3678.0 3568.8 1565.1 2170.3 52.52 -7.92 104 573.29 0.00 0.00 3.85 0.000 0.000 0.119 3625.28 3680.56 3570.00 1565.62 683.00 0 0 0 30.00 30.00 15.92

666.08 1188 -146.63 -0.88 0.00 3624.2 3679.0 3569.4 1565.8 683.1 62.81 -9.66 125 673.54 0.00 0.00 3.44 0.000 0.000 0.058 3625.34 3680.62 3570.06 1564.44 2170.00 0 0 0 30.00 30.00 16.00

856.93 32 -146.63 -0.88 0.00 3624.0 3678.1 3569.8 1565.8 2170.3 78.88 -8.35 145 858.50 0.00 0.00 0.00 0.000 0.000 0.000 3623.12 3677.50 3568.75 1565.62 2170.62 0 0 0 30.00 30.00 30.00

1046.95 32 -146.63 -0.88 0.00 3624.6 3678.8 3570.4 1565.7 2170.4 94.87 -8.43 164 1048.52 0.00 0.00 0.00 0.000 0.000 0.000 3623.91 3678.38 3569.44 1565.50 2170.44 0 0 0 30.00 30.00 30.00

1231.05 32 -146.63 -0.88 0.00 3624.8 3678.9 3570.6 1565.8 2170.6 110.57 -8.43 182 1232.62 0.00 0.00 0.00 0.000 0.000 0.000 3624.38 3678.12 3570.62 1566.25 2170.19 0 0 0 30.00 30.00 30.00

1421.06 548 -146.63 -0.88 -80.00 3624.5 3679.2 3569.9 1565.6 2170.1 128.17 -9.46 201 1428.29 0.00 0.00 3.82 0.000 0.000 0.122 3627.12 3680.38 3573.88 1565.75 684.44 0 0 0 30.00 30.00 16.03

1466.77 3205 -146.63 -0.83 0.00 3624.8 3679.2 3570.4 1565.4 684.2 132.72 -10.10 210 1473.93 0.00 0.17 3.43 0.000 0.188 0.059 3626.66 3680.12 3573.19 1593.38 2172.12 0 0 0 30.00 16.02 16.07

1661.82 420 -146.63 -0.89 80.00 3624.8 3678.9 3570.8 1593.4 2171.9 149.64 -9.02 230 1668.92 0.00 0.00 3.58 0.000 0.000 0.132 3624.00 3678.38 3569.62 1593.81 3617.62 0 0 0 30.00 30.00 16.05

1711.59 1028 -146.63 -0.89 0.00 3625.0 3679.2 3570.7 1593.6 3616.3 154.59 -9.96 240 1719.10 0.00 0.00 3.50 0.000 0.000 0.057 3624.97 3678.94 3571.00 1593.50 2122.81 0 0 0 30.00 30.00 16.10

1778 end dive: TARGET_DEPTH_EXCEEDED

state 1778 begin apogee

1779.20 10243 0.00 -0.28 0.00 3625.3 3679.4 3571.2 1593.8 2179.5 160.11 -8.33 247 1891.19 102.58 0.88 0.10 1.133 0.144 0.194 3022.44 3079.25 2965.62 1727.12 2117.56 0 0 0 12.00 16.03 15.72

1892 end apogee: CONTROL_FINISHED_OK

state 1892 begin climb

1892.33 10503 146.63 1.15 80.00 3021.7 3078.6 2964.8 1726.2 2117.3 163.79 0.00 258 2015.76 105.79 2.37 3.86 1.101 0.121 0.127 2424.72 2496.06 2353.38 2074.19 3615.69 0 0 0 11.89 15.72 15.51

2028.50 5253 146.63 0.99 0.00 2423.7 2495.4 2352.0 2074.2 3615.1 153.67 11.83 283 2036.25 0.00 0.38 3.54 0.000 0.172 0.055 2426.12 2498.75 2353.50 2025.94 2122.19 0 0 0 30.00 15.54 15.59

2224.16 516 146.63 0.99 -80.00 2419.3 2494.7 2344.0 2026.6 2122.1 133.52 10.66 303 2231.38 0.00 0.00 3.73 0.000 0.000 0.126 2420.69 2496.12 2345.25 2026.31 681.75 0 0 0 30.00 30.00 15.76

2274.25 17542 146.63 0.91 0.00 2417.4 2491.3 2343.5 2026.8 681.9 127.67 11.81 313 2281.66 0.00 0.00 3.49 0.000 0.000 0.060 2417.66 2492.06 2343.25 2027.50 2172.56 0 0 0 30.00 30.00 15.83

2469.95 8742 159.56 0.93 -80.00 2416.8 2491.0 2342.6 2027.2 2172.6 109.72 9.12 333 2491.78 10.98 0.00 3.86 0.900 0.000 0.124 2370.81 2447.19 2294.44 2026.94 684.31 0 0 0 11.90 30.00 15.84

2550.26 5253 159.56 0.86 0.00 2368.9 2445.6 2292.1 2027.4 684.1 100.93 11.57 349 2557.46 0.00 0.22 3.46 0.000 0.173 0.060 2369.38 2446.31 2292.44 1994.25 2169.44 0 0 0 30.00 15.85 15.91

2745.32 10919 187.67 0.99 -80.00 2368.4 2445.4 2291.3 1994.0 2169.1 84.45 8.43 369 2778.63 22.30 0.31 3.87 0.985 0.078 0.123 2256.00 2335.38 2176.62 2045.56 684.50 0 0 0 11.83 15.98 15.87

2827.11 5253 187.67 0.91 0.00 2254.2 2334.4 2174.0 2046.2 684.4 74.48 13.65 385 2834.40 0.00 0.31 3.46 0.000 0.158 0.060 2252.22 2332.19 2172.25 2006.12 2170.75 0 0 0 30.00 15.89 15.93

3033.17 10919 213.47 1.04 -80.00 2252.4 2333.9 2171.0 2005.4 2170.4 56.41 8.54 405 3065.22 20.38 0.31 3.89 0.954 0.076 0.122 2151.62 2233.88 2069.38 2057.06 683.25 0 0 0 11.97 15.96 15.87

3093.70 5253 213.47 0.97 0.00 2149.4 2231.9 2067.0 2057.8 683.3 48.51 12.87 417 3100.59 0.00 0.27 3.47 0.000 0.157 0.060 2150.91 2233.62 2068.19 2022.44 2167.81 0 0 0 30.00 15.88 15.91

3284.08 10919 228.59 1.10 -80.00 2147.3 2231.5 2063.1 2021.4 2168.4 30.55 9.02 455 3306.86 12.85 0.28 3.86 0.882 0.079 0.123 2090.09 2174.69 2005.50 2069.88 682.69 0 0 0 11.90 15.96 15.88

3370.33 5253 228.59 1.04 0.00 2088.2 2172.4 2003.9 2070.1 682.9 20.04 12.46 472 3377.22 0.00 0.25 3.48 0.000 0.151 0.060 2089.59 2174.38 2004.81 2036.06 2170.38 0 0 0 30.00 15.90 15.93

3561.71 10663 318.21 1.31 80.00 2086.1 2172.0 2000.1 2035.9 2170.9 6.42 5.67 509 3635.93 63.12 0.52 3.63 0.948 0.075 0.130 1723.91 1815.19 1632.62 2117.75 3616.50 0 0 0 11.97 15.96 15.77

3639.53 11431 434.73 1.56 0.00 1723.2 1813.8 1632.8 2118.5 3616.4 2.58 4.46 524 3720.15 71.06 0.34 3.57 0.919 0.082 0.053 1309.78 1392.62 1226.94 2181.19 2119.25 0 0 0 11.86 15.80 15.81

3721 end climb: SURFACE_DEPTH_REACHED

state 3721 begin surface coast

3724 end surface coast: CONTROL_FINISHED_OK

state 3724 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	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	4	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	3024.8313	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	1794.2076	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	17.654175	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.071753	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	5.1946096	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	240522,200447,4736.087,-12257.077,1,1.4,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,200814,4736.106,-12257.039,3,1.4,4,15.5	MHEAD_RNG_PITCHd_Wd	17.6,1838,-17.1,-9.697,-20.82,2278,0.135
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.077970,-0.260370,-0.060964,1.088434,0.104168,0.076647,-0.215092,0.935116,366.482788,-949.446899,-324.837860
TGT_LATLONG	4737.000,-12256.400

NAV	1653426434,8.8,0,stop	FG_AHR_24Vo	5.347
NET	CACST,8,1,20220524205815.512376,06,32767,45,0136,0150,07,00,00,00,00,1,045,121,3,5,7,0,150,16.4,7.19,-100,-4.19,-01,-1.66,64,10000,5000,0,5,01,01*5D	FG_AHR_10Vo	15.100
NET_PING	1653425294,28,1195.801514,13.000000,-1.588161	MEM0	60132,1,0,0
FINISH	1.8,1.019151	MEM1	65508,1,0,0
SM_CCo	3877.32,123.07,0.916,0,565.2,582.9,547.6,603.13	MEM2	944348,35,102220,65
SM_GC	1.60,123.07,12.62,0.09,0.916,0.071,0.157,565.2,582.9,547.6,190.1,2176.2,0,0,0,11.77,15.66,15.67	DATA_FILE_SIZE	16150,540
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	383309,0
IRIDIUM_FIX	4735.53,-12254.47,240522,185206	SDSIZE	3887104,3872640
TCM_TEMP	17.54	SDFILEDIR	77,1
SC_FREEKB	3877504	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	0.040, 98.7,1
HUMID	49.56	MAGCAL	1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.0,-890.6,-433.7,33,0.0320,1
TEMP	9.95	IMPLIED_C_PITCH	1804,18.05,290,1799.0,17.85
INTERNAL_PRESSURE	7.97873	IMPLIED_C_VBD	3026,25.537355,290,3025.2
_24V_AH	14.92,6.289	GPS	240522,211401,4736.415,-12256.592,2,1.1,19,15.5
_10V_AH	14.90,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	630	1132	10659.48	nil	0	0	0.00
Pitch_motor	29	263	116.98	nil	0	0	0.00
Roll_motor	80	193	232.53	nil	0	0	0.00
Iridium	140	216	452.61	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	2379	5	181.56	SciCon	3733	6	358.43
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1551	0	7.40
Compass	1081	5	80.60
RAFOS	1109	40	661.50
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	-146.63	-1.15	0.00	497.6	521.3	473.9	194.9	2167.6	0.00	0.00	0	71.93	62.11	0.00	0.00	0.005	0.000	0.000	2312.06	2354.25	2269.88	195.00	2167.31	0	0	0	15.68	30.00	30.00
72.23	18983	-146.63	-1.15	-80.00	2311.4	2353.3	2269.5	195.1	2168.1	3.13	-2.27	11	133.25	36.32	10.18	3.80	0.005	0.263	0.119	3621.38	3678.19	3564.56	1514.75	682.12	0	0	0	15.90	15.72	15.81
361.75	3205	-146.63	-0.94	0.00	3623.1	3677.2	3569.0	1514.1	682.2	36.73	-11.43	68	368.68	0.00	0.37	3.41	0.000	0.191	0.059	3623.50	3678.31	3568.69	1566.31	2170.44	0	0	0	30.00	15.87	15.95
562.63	548	-146.63	-0.94	-80.00	3623.4	3678.0	3568.8	1565.1	2170.3	52.52	-7.92	104	573.29	0.00	0.00	3.85	0.000	0.000	0.119	3625.28	3680.56	3570.00	1565.62	683.00	0	0	0	30.00	30.00	15.92
666.08	1188	-146.63	-0.88	0.00	3624.2	3679.0	3569.4	1565.8	683.1	62.81	-9.66	125	673.54	0.00	0.00	3.44	0.000	0.000	0.058	3625.34	3680.62	3570.06	1564.44	2170.00	0	0	0	30.00	30.00	16.00
856.93	32	-146.63	-0.88	0.00	3624.0	3678.1	3569.8	1565.8	2170.3	78.88	-8.35	145	858.50	0.00	0.00	0.00	0.000	0.000	0.000	3623.12	3677.50	3568.75	1565.62	2170.62	0	0	0	30.00	30.00	30.00
1046.95	32	-146.63	-0.88	0.00	3624.6	3678.8	3570.4	1565.7	2170.4	94.87	-8.43	164	1048.52	0.00	0.00	0.00	0.000	0.000	0.000	3623.91	3678.38	3569.44	1565.50	2170.44	0	0	0	30.00	30.00	30.00
1231.05	32	-146.63	-0.88	0.00	3624.8	3678.9	3570.6	1565.8	2170.6	110.57	-8.43	182	1232.62	0.00	0.00	0.00	0.000	0.000	0.000	3624.38	3678.12	3570.62	1566.25	2170.19	0	0	0	30.00	30.00	30.00
1421.06	548	-146.63	-0.88	-80.00	3624.5	3679.2	3569.9	1565.6	2170.1	128.17	-9.46	201	1428.29	0.00	0.00	3.82	0.000	0.000	0.122	3627.12	3680.38	3573.88	1565.75	684.44	0	0	0	30.00	30.00	16.03
1466.77	3205	-146.63	-0.83	0.00	3624.8	3679.2	3570.4	1565.4	684.2	132.72	-10.10	210	1473.93	0.00	0.17	3.43	0.000	0.188	0.059	3626.66	3680.12	3573.19	1593.38	2172.12	0	0	0	30.00	16.02	16.07
1661.82	420	-146.63	-0.89	80.00	3624.8	3678.9	3570.8	1593.4	2171.9	149.64	-9.02	230	1668.92	0.00	0.00	3.58	0.000	0.000	0.132	3624.00	3678.38	3569.62	1593.81	3617.62	0	0	0	30.00	30.00	16.05
1711.59	1028	-146.63	-0.89	0.00	3625.0	3679.2	3570.7	1593.6	3616.3	154.59	-9.96	240	1719.10	0.00	0.00	3.50	0.000	0.000	0.057	3624.97	3678.94	3571.00	1593.50	2122.81	0	0	0	30.00	30.00	16.10
1778	end dive: TARGET_DEPTH_EXCEEDED
state	1778	begin apogee
1779.20	10243	0.00	-0.28	0.00	3625.3	3679.4	3571.2	1593.8	2179.5	160.11	-8.33	247	1891.19	102.58	0.88	0.10	1.133	0.144	0.194	3022.44	3079.25	2965.62	1727.12	2117.56	0	0	0	12.00	16.03	15.72
1892	end apogee: CONTROL_FINISHED_OK
state	1892	begin climb
1892.33	10503	146.63	1.15	80.00	3021.7	3078.6	2964.8	1726.2	2117.3	163.79	0.00	258	2015.76	105.79	2.37	3.86	1.101	0.121	0.127	2424.72	2496.06	2353.38	2074.19	3615.69	0	0	0	11.89	15.72	15.51
2028.50	5253	146.63	0.99	0.00	2423.7	2495.4	2352.0	2074.2	3615.1	153.67	11.83	283	2036.25	0.00	0.38	3.54	0.000	0.172	0.055	2426.12	2498.75	2353.50	2025.94	2122.19	0	0	0	30.00	15.54	15.59
2224.16	516	146.63	0.99	-80.00	2419.3	2494.7	2344.0	2026.6	2122.1	133.52	10.66	303	2231.38	0.00	0.00	3.73	0.000	0.000	0.126	2420.69	2496.12	2345.25	2026.31	681.75	0	0	0	30.00	30.00	15.76
2274.25	17542	146.63	0.91	0.00	2417.4	2491.3	2343.5	2026.8	681.9	127.67	11.81	313	2281.66	0.00	0.00	3.49	0.000	0.000	0.060	2417.66	2492.06	2343.25	2027.50	2172.56	0	0	0	30.00	30.00	15.83
2469.95	8742	159.56	0.93	-80.00	2416.8	2491.0	2342.6	2027.2	2172.6	109.72	9.12	333	2491.78	10.98	0.00	3.86	0.900	0.000	0.124	2370.81	2447.19	2294.44	2026.94	684.31	0	0	0	11.90	30.00	15.84
2550.26	5253	159.56	0.86	0.00	2368.9	2445.6	2292.1	2027.4	684.1	100.93	11.57	349	2557.46	0.00	0.22	3.46	0.000	0.173	0.060	2369.38	2446.31	2292.44	1994.25	2169.44	0	0	0	30.00	15.85	15.91
2745.32	10919	187.67	0.99	-80.00	2368.4	2445.4	2291.3	1994.0	2169.1	84.45	8.43	369	2778.63	22.30	0.31	3.87	0.985	0.078	0.123	2256.00	2335.38	2176.62	2045.56	684.50	0	0	0	11.83	15.98	15.87
2827.11	5253	187.67	0.91	0.00	2254.2	2334.4	2174.0	2046.2	684.4	74.48	13.65	385	2834.40	0.00	0.31	3.46	0.000	0.158	0.060	2252.22	2332.19	2172.25	2006.12	2170.75	0	0	0	30.00	15.89	15.93
3033.17	10919	213.47	1.04	-80.00	2252.4	2333.9	2171.0	2005.4	2170.4	56.41	8.54	405	3065.22	20.38	0.31	3.89	0.954	0.076	0.122	2151.62	2233.88	2069.38	2057.06	683.25	0	0	0	11.97	15.96	15.87
3093.70	5253	213.47	0.97	0.00	2149.4	2231.9	2067.0	2057.8	683.3	48.51	12.87	417	3100.59	0.00	0.27	3.47	0.000	0.157	0.060	2150.91	2233.62	2068.19	2022.44	2167.81	0	0	0	30.00	15.88	15.91
3284.08	10919	228.59	1.10	-80.00	2147.3	2231.5	2063.1	2021.4	2168.4	30.55	9.02	455	3306.86	12.85	0.28	3.86	0.882	0.079	0.123	2090.09	2174.69	2005.50	2069.88	682.69	0	0	0	11.90	15.96	15.88
3370.33	5253	228.59	1.04	0.00	2088.2	2172.4	2003.9	2070.1	682.9	20.04	12.46	472	3377.22	0.00	0.25	3.48	0.000	0.151	0.060	2089.59	2174.38	2004.81	2036.06	2170.38	0	0	0	30.00	15.90	15.93
3561.71	10663	318.21	1.31	80.00	2086.1	2172.0	2000.1	2035.9	2170.9	6.42	5.67	509	3635.93	63.12	0.52	3.63	0.948	0.075	0.130	1723.91	1815.19	1632.62	2117.75	3616.50	0	0	0	11.97	15.96	15.77
3639.53	11431	434.73	1.56	0.00	1723.2	1813.8	1632.8	2118.5	3616.4	2.58	4.46	524	3720.15	71.06	0.34	3.57	0.919	0.082	0.053	1309.78	1392.62	1226.94	2181.19	2119.25	0	0	0	11.86	15.80	15.81
3721	end climb: SURFACE_DEPTH_REACHED
state	3721	begin surface coast
3724	end surface coast: CONTROL_FINISHED_OK
state	3724	begin surface