Glider dive log

HoodCanal 21May22 * SG241 * Dive index * Mission links * Dive 4 * 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 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 -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 15 C_VBD 3000 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 1700 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 19.713898 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.538347 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 23.903194 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 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 18.538347 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 23.903194 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 19.713898 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 1700 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 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 4 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 210522,190631,4735.959,-12256.879,10,0.9,33,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,190937,4735.948,-12256.882,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 351.8,2038,-17.1,-9.697,-20.82,2278,0.146

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME N IRON 1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.883667,-1287.684814,-265.922333

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,1,20220521192021.424364,06,596,27,0113,0150,74,01,01,00,01,1,045,121,3,5,7,2,150,8.9,4.83,-100,-1.83,-01,0.24,48,10000,5000,0,5,01,01*44 FG_AHR_24Vo 24.074

NET_PING 1653160811,45,2134.981445,11.100000,-2.845758 FG_AHR_10Vo 18.570

NAV 1653163143,72.1,start MEM0 60148,1,0,0

FINISH 0.3,1.020587 MEM1 65508,1,0,0

SM_CCo 3978.10,239.01,0.924,0,541.1,614.7,467.5,603.17 MEM2 944676,35,101912,64

SM_GC 1.69,239.01,11.23,3.41,0.924,0.079,0.051,541.1,614.7,467.5,194.7,2174.5,0,0,0,11.71,15.89,15.91 DATA_FILE_SIZE 12961,529

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 323766,0

IRIDIUM_FIX 4735.53,-12254.47,210522,181206 SDSIZE 3887104,3872736

TCM_TEMP 12.68 SDFILEDIR 63,1

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 0.067, 54.6,1

HUMID 48.38 MAGCAL 1.000000,0.008987,0.057501,-0.001071,1.068909,-0.046612,-0.003989,-0.063204,1.027743,426.4,-1281.1,-253.6,30,0.0270,0

TEMP 10.11 IMPLIED_C_PITCH 1748,17.57,295,1723.8,18.64

INTERNAL_PRESSURE 8.07425 IMPLIED_C_VBD 2904,25.778734,295,2952.0

_24V_AH 14.72,3.953 GPS 210522,201650,4736.495,-12256.596,2,1.1,5,15.5

_10V_AH 14.74,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 690 1132 11500.24 nil 0 0 0.00

Pitch_motor 26 279 109.06 nil 0 0 0.00

Roll_motor 92 200 273.24 nil 0 0 0.00

Iridium 122 217 392.20 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2107 5 159.08 SciCon 3721 6 374.99

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1792 0 8.45

Compass 1069 5 78.79

RAFOS 822 40 485.16

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

6.52 16386 -146.63 -1.05 0.00 538.6 615.7 461.5 193.3 2113.7 0.00 0.00 0 115.46 106.32 0.00 0.00 0.005 0.000 0.000 2874.09 2846.94 2901.25 193.31 2113.94 0 0 0 15.63 30.00 30.00

115.69 18727 -146.63 -1.05 80.00 2872.8 2845.2 2900.4 193.5 2113.4 3.34 -1.67 20 157.00 22.89 10.19 3.72 0.006 0.280 0.111 3597.50 3585.62 3609.38 1445.81 3618.25 0 0 0 15.81 15.63 15.73

180.07 3205 -146.63 -0.74 0.00 3598.2 3587.5 3608.8 1445.8 3618.3 11.26 -15.88 33 185.83 0.00 0.54 3.45 0.000 0.192 0.054 3598.19 3588.00 3608.38 1521.00 2121.88 0 0 0 30.00 15.71 15.78

370.09 32 -146.63 -0.74 0.00 3598.1 3593.7 3602.6 1521.5 2120.8 32.04 -9.25 71 374.21 0.00 0.00 0.00 0.000 0.000 0.000 3598.16 3593.38 3602.94 1521.62 2120.25 0 0 0 30.00 30.00 30.00

555.10 292 -146.63 -0.74 80.00 3598.7 3594.8 3602.7 1521.5 2120.9 48.01 -8.60 108 560.78 0.00 0.00 3.69 0.000 0.000 0.114 3599.00 3594.88 3603.12 1521.12 3615.94 0 0 0 30.00 30.00 15.87

621.76 1156 -146.63 -0.70 0.00 3598.4 3594.2 3602.5 1521.5 3615.9 54.73 -10.10 121 628.12 0.00 0.00 3.45 0.000 0.000 0.052 3599.47 3595.81 3603.12 1520.75 2118.25 0 0 0 30.00 30.00 15.90

817.52 292 -146.63 -0.70 80.00 3598.6 3594.9 3602.3 1521.8 2118.4 71.90 -8.79 141 822.45 0.00 0.00 3.68 0.000 0.000 0.113 3599.16 3596.12 3602.19 1521.75 3616.12 0 0 0 30.00 30.00 15.93

867.50 1028 -146.63 -0.70 0.00 3598.9 3595.3 3602.4 1521.8 3615.8 76.94 -10.24 151 872.42 0.00 0.00 3.42 0.000 0.000 0.052 3599.59 3596.25 3602.94 1521.38 2117.62 0 0 0 30.00 30.00 15.98

1057.55 420 -146.63 -0.73 80.00 3599.0 3596.0 3602.0 1521.3 2117.0 93.80 -8.62 171 1062.46 0.00 0.00 3.67 0.000 0.000 0.112 3599.59 3596.69 3602.50 1521.69 3617.44 0 0 0 30.00 30.00 15.98

1097.52 1028 -146.63 -0.73 0.00 3599.0 3596.1 3602.0 1521.5 3617.2 97.79 -10.19 179 1102.43 0.00 0.00 3.42 0.000 0.000 0.052 3599.97 3596.56 3603.38 1521.62 2118.75 0 0 0 30.00 30.00 16.02

1287.56 420 -146.63 -0.77 80.00 3599.2 3596.7 3601.8 1521.8 2118.3 114.38 -8.78 199 1292.47 0.00 0.00 3.65 0.000 0.000 0.112 3598.78 3596.19 3601.38 1521.25 3617.25 0 0 0 30.00 30.00 16.01

1321.80 1028 -146.63 -0.77 0.00 3599.2 3596.3 3602.1 1521.4 3617.6 117.86 -9.96 206 1328.17 0.00 0.00 3.41 0.000 0.000 0.052 3599.88 3597.19 3602.56 1521.56 2118.12 0 0 0 30.00 30.00 16.06

1517.57 420 -146.63 -0.82 80.00 3599.2 3596.8 3601.5 1521.5 2117.9 135.68 -9.15 226 1522.48 0.00 0.00 3.66 0.000 0.000 0.114 3599.72 3597.25 3602.19 1521.75 3618.88 0 0 0 30.00 30.00 16.04

1557.53 1028 -146.63 -0.82 0.00 3599.3 3596.6 3602.1 1521.2 3618.6 139.77 -10.38 234 1562.51 0.00 0.00 3.41 0.000 0.000 0.053 3600.03 3597.31 3602.75 1521.56 2119.50 0 0 0 30.00 30.00 16.08

1747.58 4517 -146.63 -0.86 80.00 3599.6 3597.3 3601.8 1521.6 2119.6 156.51 -8.60 254 1753.57 0.00 0.29 3.63 0.000 0.090 0.113 3600.41 3597.44 3603.38 1477.31 3617.69 0 0 0 30.00 16.08 16.06

1782 end dive: TARGET_DEPTH_EXCEEDED

state 1782 begin apogee

1787.31 10243 0.00 -0.25 0.00 3599.0 3596.5 3601.6 1477.0 2118.0 160.61 -12.18 261 1901.75 111.51 1.22 0.09 1.132 0.175 0.200 2996.41 3049.50 2943.31 1639.94 2175.38 0 0 0 11.63 16.04 15.69

1902 end apogee: CONTROL_FINISHED_OK

state 1902 begin climb

1902.57 10243 146.63 1.05 0.00 2998.9 3051.6 2946.2 1638.6 2181.5 166.65 0.00 273 2021.49 114.88 2.22 0.00 1.081 0.138 0.000 2401.78 2470.88 2332.69 1955.12 2181.69 0 0 0 11.62 15.66 30.00

2205.86 8742 172.21 1.08 -80.00 2395.8 2460.2 2331.4 1954.4 2181.7 146.15 8.55 304 2236.10 21.58 0.00 3.79 1.008 0.000 0.122 2298.09 2369.50 2226.69 1954.44 683.19 0 0 0 11.64 30.00 15.64

2250.12 9254 182.66 1.09 0.00 2296.3 2366.9 2225.6 1954.8 683.1 142.03 9.23 313 2266.76 10.72 0.00 3.48 0.891 0.000 0.053 2256.03 2328.56 2183.50 1954.56 2175.50 0 0 0 11.54 30.00 15.70

2455.88 10663 196.35 1.16 80.00 2251.8 2321.2 2182.3 1954.4 2175.8 123.47 9.08 335 2476.88 12.87 0.16 3.56 0.938 0.107 0.120 2197.56 2270.50 2124.62 1988.75 3616.19 0 0 0 11.65 15.81 15.75

2490.14 1156 196.35 1.12 0.00 2197.0 2269.2 2124.8 1987.8 3615.2 119.66 10.89 342 2496.51 0.00 0.00 3.47 0.000 0.000 0.052 2197.50 2269.12 2125.88 1987.62 2120.44 0 0 0 30.00 30.00 15.80

2685.87 0 196.35 1.12 0.00 2196.5 2267.6 2125.4 1988.9 2120.9 98.58 10.71 362 2687.20 0.00 0.00 0.00 0.000 0.000 0.000 2195.41 2267.06 2123.75 1988.56 2121.00 0 0 0 30.00 30.00 30.00

2875.89 260 196.35 1.12 80.00 2196.1 2267.2 2125.1 1988.3 2121.1 78.86 10.38 381 2880.84 0.00 0.00 3.68 0.000 0.000 0.116 2196.22 2267.38 2125.06 1988.69 3616.25 0 0 0 30.00 30.00 15.92

2915.90 5253 196.35 1.05 0.00 2194.7 2264.5 2124.9 1988.7 3616.3 74.10 12.15 389 2920.92 0.00 0.34 3.43 0.000 0.180 0.053 2194.34 2264.31 2124.38 1947.31 2120.62 0 0 0 30.00 15.89 15.97

3109.86 10663 225.32 1.19 80.00 2194.8 2264.8 2124.8 1947.0 2120.8 57.40 8.40 409 3141.16 23.38 0.31 3.71 0.986 0.089 0.117 2080.25 2159.88 2000.62 1996.00 3615.62 0 0 0 11.57 15.96 15.86

3184.85 1156 225.32 1.14 0.00 2077.6 2155.4 1999.8 1995.7 3615.9 48.80 12.31 424 3190.48 0.00 0.00 3.45 0.000 0.000 0.053 2078.31 2155.81 2000.81 1994.31 2121.12 0 0 0 30.00 30.00 15.90

3374.86 260 225.32 1.14 80.00 2077.2 2153.9 2000.5 1995.4 2121.2 28.60 10.31 462 3380.55 0.00 0.00 3.69 0.000 0.000 0.116 2077.12 2154.00 2000.25 1995.44 3615.56 0 0 0 30.00 30.00 15.91

3399.86 1028 225.32 1.14 0.00 2076.5 2152.5 2000.5 1995.5 3616.6 25.63 11.51 467 3405.51 0.00 0.00 3.44 0.000 0.000 0.052 2077.22 2153.12 2001.31 1994.31 2121.00 0 0 0 30.00 30.00 15.94

3589.92 8870 259.01 1.26 -80.00 2076.6 2152.3 2000.9 1996.4 2121.8 8.09 8.18 505 3623.65 27.00 0.00 3.58 0.943 0.000 0.121 1944.47 2031.88 1857.06 1995.31 681.81 0 0 0 11.73 30.00 15.84

3677 end climb: SURFACE_DEPTH_REACHED

state 3677 begin surface coast

3712 end surface coast: CONTROL_FINISHED_OK

state 3712 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	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	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	15	C_VBD	3000	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	1700	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	19.713898	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.538347	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	23.903194	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	210522,190631,4735.959,-12256.879,10,0.9,33,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,190937,4735.948,-12256.882,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	351.8,2038,-17.1,-9.697,-20.82,2278,0.146
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.883667,-1287.684814,-265.922333
TGT_LATLONG	4737.000,-12256.400

NET	CACST,8,1,20220521192021.424364,06,596,27,0113,0150,74,01,01,00,01,1,045,121,3,5,7,2,150,8.9,4.83,-100,-1.83,-01,0.24,48,10000,5000,0,5,01,01*44	FG_AHR_24Vo	24.074
NET_PING	1653160811,45,2134.981445,11.100000,-2.845758	FG_AHR_10Vo	18.570
NAV	1653163143,72.1,start	MEM0	60148,1,0,0
FINISH	0.3,1.020587	MEM1	65508,1,0,0
SM_CCo	3978.10,239.01,0.924,0,541.1,614.7,467.5,603.17	MEM2	944676,35,101912,64
SM_GC	1.69,239.01,11.23,3.41,0.924,0.079,0.051,541.1,614.7,467.5,194.7,2174.5,0,0,0,11.71,15.89,15.91	DATA_FILE_SIZE	12961,529
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	323766,0
IRIDIUM_FIX	4735.53,-12254.47,210522,181206	SDSIZE	3887104,3872736
TCM_TEMP	12.68	SDFILEDIR	63,1
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	0.067, 54.6,1
HUMID	48.38	MAGCAL	1.000000,0.008987,0.057501,-0.001071,1.068909,-0.046612,-0.003989,-0.063204,1.027743,426.4,-1281.1,-253.6,30,0.0270,0
TEMP	10.11	IMPLIED_C_PITCH	1748,17.57,295,1723.8,18.64
INTERNAL_PRESSURE	8.07425	IMPLIED_C_VBD	2904,25.778734,295,2952.0
_24V_AH	14.72,3.953	GPS	210522,201650,4736.495,-12256.596,2,1.1,5,15.5
_10V_AH	14.74,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	690	1132	11500.24	nil	0	0	0.00
Pitch_motor	26	279	109.06	nil	0	0	0.00
Roll_motor	92	200	273.24	nil	0	0	0.00
Iridium	122	217	392.20	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2107	5	159.08	SciCon	3721	6	374.99
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1792	0	8.45
Compass	1069	5	78.79
RAFOS	822	40	485.16
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
6.52	16386	-146.63	-1.05	0.00	538.6	615.7	461.5	193.3	2113.7	0.00	0.00	0	115.46	106.32	0.00	0.00	0.005	0.000	0.000	2874.09	2846.94	2901.25	193.31	2113.94	0	0	0	15.63	30.00	30.00
115.69	18727	-146.63	-1.05	80.00	2872.8	2845.2	2900.4	193.5	2113.4	3.34	-1.67	20	157.00	22.89	10.19	3.72	0.006	0.280	0.111	3597.50	3585.62	3609.38	1445.81	3618.25	0	0	0	15.81	15.63	15.73
180.07	3205	-146.63	-0.74	0.00	3598.2	3587.5	3608.8	1445.8	3618.3	11.26	-15.88	33	185.83	0.00	0.54	3.45	0.000	0.192	0.054	3598.19	3588.00	3608.38	1521.00	2121.88	0	0	0	30.00	15.71	15.78
370.09	32	-146.63	-0.74	0.00	3598.1	3593.7	3602.6	1521.5	2120.8	32.04	-9.25	71	374.21	0.00	0.00	0.00	0.000	0.000	0.000	3598.16	3593.38	3602.94	1521.62	2120.25	0	0	0	30.00	30.00	30.00
555.10	292	-146.63	-0.74	80.00	3598.7	3594.8	3602.7	1521.5	2120.9	48.01	-8.60	108	560.78	0.00	0.00	3.69	0.000	0.000	0.114	3599.00	3594.88	3603.12	1521.12	3615.94	0	0	0	30.00	30.00	15.87
621.76	1156	-146.63	-0.70	0.00	3598.4	3594.2	3602.5	1521.5	3615.9	54.73	-10.10	121	628.12	0.00	0.00	3.45	0.000	0.000	0.052	3599.47	3595.81	3603.12	1520.75	2118.25	0	0	0	30.00	30.00	15.90
817.52	292	-146.63	-0.70	80.00	3598.6	3594.9	3602.3	1521.8	2118.4	71.90	-8.79	141	822.45	0.00	0.00	3.68	0.000	0.000	0.113	3599.16	3596.12	3602.19	1521.75	3616.12	0	0	0	30.00	30.00	15.93
867.50	1028	-146.63	-0.70	0.00	3598.9	3595.3	3602.4	1521.8	3615.8	76.94	-10.24	151	872.42	0.00	0.00	3.42	0.000	0.000	0.052	3599.59	3596.25	3602.94	1521.38	2117.62	0	0	0	30.00	30.00	15.98
1057.55	420	-146.63	-0.73	80.00	3599.0	3596.0	3602.0	1521.3	2117.0	93.80	-8.62	171	1062.46	0.00	0.00	3.67	0.000	0.000	0.112	3599.59	3596.69	3602.50	1521.69	3617.44	0	0	0	30.00	30.00	15.98
1097.52	1028	-146.63	-0.73	0.00	3599.0	3596.1	3602.0	1521.5	3617.2	97.79	-10.19	179	1102.43	0.00	0.00	3.42	0.000	0.000	0.052	3599.97	3596.56	3603.38	1521.62	2118.75	0	0	0	30.00	30.00	16.02
1287.56	420	-146.63	-0.77	80.00	3599.2	3596.7	3601.8	1521.8	2118.3	114.38	-8.78	199	1292.47	0.00	0.00	3.65	0.000	0.000	0.112	3598.78	3596.19	3601.38	1521.25	3617.25	0	0	0	30.00	30.00	16.01
1321.80	1028	-146.63	-0.77	0.00	3599.2	3596.3	3602.1	1521.4	3617.6	117.86	-9.96	206	1328.17	0.00	0.00	3.41	0.000	0.000	0.052	3599.88	3597.19	3602.56	1521.56	2118.12	0	0	0	30.00	30.00	16.06
1517.57	420	-146.63	-0.82	80.00	3599.2	3596.8	3601.5	1521.5	2117.9	135.68	-9.15	226	1522.48	0.00	0.00	3.66	0.000	0.000	0.114	3599.72	3597.25	3602.19	1521.75	3618.88	0	0	0	30.00	30.00	16.04
1557.53	1028	-146.63	-0.82	0.00	3599.3	3596.6	3602.1	1521.2	3618.6	139.77	-10.38	234	1562.51	0.00	0.00	3.41	0.000	0.000	0.053	3600.03	3597.31	3602.75	1521.56	2119.50	0	0	0	30.00	30.00	16.08
1747.58	4517	-146.63	-0.86	80.00	3599.6	3597.3	3601.8	1521.6	2119.6	156.51	-8.60	254	1753.57	0.00	0.29	3.63	0.000	0.090	0.113	3600.41	3597.44	3603.38	1477.31	3617.69	0	0	0	30.00	16.08	16.06
1782	end dive: TARGET_DEPTH_EXCEEDED
state	1782	begin apogee
1787.31	10243	0.00	-0.25	0.00	3599.0	3596.5	3601.6	1477.0	2118.0	160.61	-12.18	261	1901.75	111.51	1.22	0.09	1.132	0.175	0.200	2996.41	3049.50	2943.31	1639.94	2175.38	0	0	0	11.63	16.04	15.69
1902	end apogee: CONTROL_FINISHED_OK
state	1902	begin climb
1902.57	10243	146.63	1.05	0.00	2998.9	3051.6	2946.2	1638.6	2181.5	166.65	0.00	273	2021.49	114.88	2.22	0.00	1.081	0.138	0.000	2401.78	2470.88	2332.69	1955.12	2181.69	0	0	0	11.62	15.66	30.00
2205.86	8742	172.21	1.08	-80.00	2395.8	2460.2	2331.4	1954.4	2181.7	146.15	8.55	304	2236.10	21.58	0.00	3.79	1.008	0.000	0.122	2298.09	2369.50	2226.69	1954.44	683.19	0	0	0	11.64	30.00	15.64
2250.12	9254	182.66	1.09	0.00	2296.3	2366.9	2225.6	1954.8	683.1	142.03	9.23	313	2266.76	10.72	0.00	3.48	0.891	0.000	0.053	2256.03	2328.56	2183.50	1954.56	2175.50	0	0	0	11.54	30.00	15.70
2455.88	10663	196.35	1.16	80.00	2251.8	2321.2	2182.3	1954.4	2175.8	123.47	9.08	335	2476.88	12.87	0.16	3.56	0.938	0.107	0.120	2197.56	2270.50	2124.62	1988.75	3616.19	0	0	0	11.65	15.81	15.75
2490.14	1156	196.35	1.12	0.00	2197.0	2269.2	2124.8	1987.8	3615.2	119.66	10.89	342	2496.51	0.00	0.00	3.47	0.000	0.000	0.052	2197.50	2269.12	2125.88	1987.62	2120.44	0	0	0	30.00	30.00	15.80
2685.87	0	196.35	1.12	0.00	2196.5	2267.6	2125.4	1988.9	2120.9	98.58	10.71	362	2687.20	0.00	0.00	0.00	0.000	0.000	0.000	2195.41	2267.06	2123.75	1988.56	2121.00	0	0	0	30.00	30.00	30.00
2875.89	260	196.35	1.12	80.00	2196.1	2267.2	2125.1	1988.3	2121.1	78.86	10.38	381	2880.84	0.00	0.00	3.68	0.000	0.000	0.116	2196.22	2267.38	2125.06	1988.69	3616.25	0	0	0	30.00	30.00	15.92
2915.90	5253	196.35	1.05	0.00	2194.7	2264.5	2124.9	1988.7	3616.3	74.10	12.15	389	2920.92	0.00	0.34	3.43	0.000	0.180	0.053	2194.34	2264.31	2124.38	1947.31	2120.62	0	0	0	30.00	15.89	15.97
3109.86	10663	225.32	1.19	80.00	2194.8	2264.8	2124.8	1947.0	2120.8	57.40	8.40	409	3141.16	23.38	0.31	3.71	0.986	0.089	0.117	2080.25	2159.88	2000.62	1996.00	3615.62	0	0	0	11.57	15.96	15.86
3184.85	1156	225.32	1.14	0.00	2077.6	2155.4	1999.8	1995.7	3615.9	48.80	12.31	424	3190.48	0.00	0.00	3.45	0.000	0.000	0.053	2078.31	2155.81	2000.81	1994.31	2121.12	0	0	0	30.00	30.00	15.90
3374.86	260	225.32	1.14	80.00	2077.2	2153.9	2000.5	1995.4	2121.2	28.60	10.31	462	3380.55	0.00	0.00	3.69	0.000	0.000	0.116	2077.12	2154.00	2000.25	1995.44	3615.56	0	0	0	30.00	30.00	15.91
3399.86	1028	225.32	1.14	0.00	2076.5	2152.5	2000.5	1995.5	3616.6	25.63	11.51	467	3405.51	0.00	0.00	3.44	0.000	0.000	0.052	2077.22	2153.12	2001.31	1994.31	2121.00	0	0	0	30.00	30.00	15.94
3589.92	8870	259.01	1.26	-80.00	2076.6	2152.3	2000.9	1996.4	2121.8	8.09	8.18	505	3623.65	27.00	0.00	3.58	0.943	0.000	0.121	1944.47	2031.88	1857.06	1995.31	681.81	0	0	0	11.73	30.00	15.84
3677	end climb: SURFACE_DEPTH_REACHED
state	3677	begin surface coast
3712	end surface coast: CONTROL_FINISHED_OK
state	3712	begin surface