Glider dive log

HoodCanal 24May22 * SG241 * Dive index * Mission links * Dive 5 * 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 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 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 175 COMM_SEQ 7 C_VBD 3031.1638 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 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 1749.4349 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 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18.811874 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.458338 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 27.440155 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 -189.03369 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 5 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 19.458338 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.440155 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 18.811874 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 7 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 1749.4349 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 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 3031.1638 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 5 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 5 MISSION 6 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 240522,211736,4736.452,-12256.766,3,0.8,5,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240522,212140,4736.482,-12256.709,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 358.5,1033,-17.1,-9.697,-20.82,2278,0.121

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,0.026596,0.042122,0.011621,1.105304,-0.030256,0.003727,-0.032755,1.018910,427.064667,-1334.949951,-202.483078

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653431341,-0.0,start _10V_AH 14.87,0.000

NET xm1t part outbox0003.n 986 9 FG_AHR_24Vo 27.604

NET_PING 1653430341,28,876.745483,14.500000,-1.160507 FG_AHR_10Vo 19.492

MODEM_MSG CACST,8,1,20220524220501.482443,18,32767,39,0178,0000,246,02,02,01,02,-1,-01,-01,2,3,1,0,150,1.2,1.92,-100,1.08,-01,1.13,72,925,0025,0,-1,00,00*3A MEM0 60132,1,0,0

FINISH -0.0,1.017777 MEM1 65508,1,0,0

SM_CCo 4277.01,163.26,0.901,0,572.6,643.4,501.7,603.05 MEM2 944432,34,102156,65

SM_GC 1.28,163.26,11.83,3.41,0.901,0.087,0.050,572.6,643.4,501.7,202.5,2171.6,0,0,0,11.70,15.90,15.92 DATA_FILE_SIZE 16137,578

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 5654903,0

IRIDIUM_FIX 4735.53,-12254.47,240522,200746 SDSIZE 3887104,3866496

TCM_TEMP 13.86 SDFILEDIR 85,1

SC_FREEKB 3877184 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 2,1653427803,47.61230,-122.96660,3.228,4729.7 CURRENT 0.066, 41.4,1

RAFOS_FIX 4732.720703,-12321.676758,240522,222201,4,255,4643.10 MAGCAL 1.000000,0.023795,0.049003,0.010685,1.071583,-0.048576,-0.006941,-0.037984,1.026658,420.8,-1316.7,-213.5,29,0.0265,0

HUMID 49.13 IMPLIED_C_PITCH 1752,18.61,289,1750.8,18.71

TEMP 11.00 IMPLIED_C_VBD 3005,32.001911,289,3018.2

INTERNAL_PRESSURE 8.12911 GPS 240522,223431,4737.027,-12256.482,18,1.1,30,15.5

_24V_AH 14.84,7.333

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 675 1084 10868.80 nil 0 0 0.00

Pitch_motor 28 290 121.85 nil 0 0 0.00

Roll_motor 76 188 214.83 nil 0 0 0.00

Iridium 132 215 422.67 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2981 5 227.02 SciCon 4076 6 416.33

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1296 0 6.17

Compass 1569 5 116.71

RAFOS 879 40 523.11

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.33 16386 -146.63 -1.09 0.00 582.4 657.5 507.2 197.2 2107.9 0.00 0.00 0 90.10 77.79 0.00 0.00 0.005 0.000 0.000 2430.47 2398.88 2462.06 197.19 2107.19 0 0 0 15.37 30.00 30.00

90.49 18983 -146.63 -1.09 -80.00 2429.4 2398.0 2460.8 197.1 2107.2 3.28 -2.60 14 161.35 40.28 10.48 3.43 0.005 0.290 0.110 3628.12 3620.19 3636.06 1485.12 679.50 0 0 0 15.91 15.72 15.84

390.85 3205 -146.63 -0.91 0.00 3629.7 3625.0 3634.4 1484.4 679.5 35.99 -11.16 72 399.10 0.00 0.31 3.40 0.000 0.191 0.047 3631.06 3626.69 3635.44 1528.38 2175.94 0 0 0 30.00 15.89 15.97

579.73 32 -146.63 -0.91 0.00 3629.9 3626.9 3633.0 1529.2 2175.5 51.05 -7.77 106 581.34 0.00 0.00 0.00 0.000 0.000 0.000 3628.72 3625.69 3631.75 1529.12 2175.94 0 0 0 30.00 30.00 30.00

770.01 32 -146.63 -0.91 0.00 3630.3 3627.7 3632.9 1529.2 2176.3 67.01 -8.55 125 771.63 0.00 0.00 0.00 0.000 0.000 0.000 3629.59 3626.81 3632.38 1528.25 2175.38 0 0 0 30.00 30.00 30.00

960.04 32 -146.63 -0.91 0.00 3630.5 3628.0 3633.0 1528.4 2175.6 83.23 -8.70 144 961.66 0.00 0.00 0.00 0.000 0.000 0.000 3629.88 3627.50 3632.25 1528.56 2175.50 0 0 0 30.00 30.00 30.00

1146.08 292 -146.63 -0.91 80.00 3630.4 3627.8 3633.1 1528.9 2175.8 99.03 -8.46 163 1154.37 0.00 0.00 3.47 0.000 0.000 0.109 3630.84 3627.75 3633.94 1529.12 3617.19 0 0 0 30.00 30.00 16.05

1177.88 1060 -146.63 -0.91 0.00 3630.7 3627.8 3633.6 1529.1 3617.9 102.15 -9.18 169 1186.76 0.00 0.00 3.38 0.000 0.000 0.048 3630.91 3628.06 3633.75 1528.56 2116.44 0 0 0 30.00 30.00 16.08

1373.79 548 -146.63 -0.91 -80.00 3630.7 3628.1 3633.4 1528.7 2115.8 118.82 -8.33 189 1382.02 0.00 0.00 3.44 0.000 0.000 0.111 3630.62 3628.06 3633.19 1528.62 680.62 0 0 0 30.00 30.00 16.06

1395.53 1060 -146.63 -0.91 0.00 3630.8 3628.1 3633.4 1529.2 681.3 120.87 -8.56 193 1404.44 0.00 0.00 3.39 0.000 0.000 0.048 3631.25 3629.25 3633.25 1528.75 2177.69 0 0 0 30.00 30.00 16.09

1591.51 420 -146.63 -0.94 80.00 3630.8 3628.6 3632.9 1529.1 2178.8 138.20 -9.03 213 1599.66 0.00 0.00 3.45 0.000 0.000 0.109 3630.34 3628.50 3632.19 1529.19 3617.44 0 0 0 30.00 30.00 16.08

1629.01 1028 -146.63 -0.94 0.00 3630.8 3628.4 3633.2 1529.2 3617.8 141.94 -9.89 220 1636.20 0.00 0.00 3.37 0.000 0.000 0.047 3630.78 3628.00 3633.56 1529.12 2115.94 0 0 0 30.00 30.00 16.12

1825.54 676 -146.63 -0.98 -80.00 3630.8 3628.8 3632.8 1529.1 2114.1 159.55 -8.93 241 1833.12 0.00 0.00 3.43 0.000 0.000 0.109 3629.72 3628.12 3631.31 1529.25 679.56 0 0 0 30.00 30.00 16.05

1838 end dive: TARGET_DEPTH_EXCEEDED

state 1838 begin apogee

1846.17 10243 0.00 -0.27 0.00 3630.5 3628.1 3633.0 1529.1 2175.9 160.66 -8.99 243 1969.24 111.47 1.08 0.09 1.084 0.157 0.189 3030.91 3084.25 2977.56 1684.69 2111.75 0 0 0 11.83 16.07 15.75

1970 end apogee: CONTROL_FINISHED_OK

state 1971 begin climb

1971.11 10243 146.63 1.09 0.00 3029.5 3082.7 2976.2 1684.9 2111.6 165.82 0.00 255 2096.50 114.21 2.24 0.00 1.046 0.121 0.000 2429.69 2497.56 2361.81 2014.62 2111.94 0 0 0 11.79 15.74 30.00

2277.83 4485 146.63 0.97 80.00 2426.5 2488.9 2364.2 2014.2 2111.6 137.48 12.15 288 2286.51 0.00 0.31 3.69 0.000 0.180 0.111 2428.09 2490.06 2366.12 1979.19 3616.88 0 0 0 30.00 15.71 15.74

2396.38 21639 146.63 0.85 0.00 2423.5 2483.2 2363.8 1978.4 3617.2 123.30 11.65 310 2404.56 0.00 0.20 3.45 0.000 0.200 0.048 2423.75 2483.94 2363.56 1947.56 2119.25 0 0 0 30.00 15.74 15.78

2591.13 10663 181.38 0.94 80.00 2423.8 2483.5 2364.0 1947.6 2119.4 106.59 8.14 330 2630.48 27.85 0.22 3.66 0.990 0.089 0.112 2291.84 2361.50 2222.19 1983.50 3618.12 0 0 0 11.76 15.88 15.77

2659.08 5253 181.38 0.84 0.00 2288.9 2357.7 2220.1 1983.2 3617.6 99.27 11.81 343 2668.29 0.00 0.31 3.44 0.000 0.184 0.048 2290.50 2358.56 2222.44 1945.31 2118.50 0 0 0 30.00 15.76 15.83

2854.96 10663 222.76 0.98 80.00 2287.6 2355.1 2220.1 1944.9 2117.8 82.68 7.84 363 2900.46 33.78 0.31 3.66 0.978 0.083 0.112 2121.19 2200.25 2042.12 1994.50 3615.81 0 0 0 11.88 15.91 15.80

2949.90 1156 222.76 0.93 0.00 2118.7 2195.4 2042.0 1994.3 3615.6 71.90 12.72 381 2958.17 0.00 0.00 3.42 0.000 0.000 0.048 2120.88 2197.12 2044.62 1994.88 2118.75 0 0 0 30.00 30.00 15.86

3144.81 260 222.76 0.93 80.00 2117.6 2193.1 2042.2 1993.6 2118.3 50.45 10.79 401 3153.33 0.00 0.00 3.64 0.000 0.000 0.110 2118.16 2193.50 2042.81 1994.62 3617.69 0 0 0 30.00 30.00 15.91

3202.81 5253 222.76 0.88 0.00 2116.4 2190.7 2042.1 1993.6 3617.2 43.21 12.91 412 3211.17 0.00 0.30 3.41 0.000 0.174 0.049 2118.31 2192.12 2044.50 1956.62 2118.62 0 0 0 30.00 15.90 15.96

3395.72 10663 258.64 1.06 80.00 2116.2 2190.7 2041.8 1956.1 2118.9 26.38 8.09 450 3436.29 27.97 0.35 3.65 0.933 0.083 0.111 1977.97 2063.56 1892.38 2012.56 3618.94 0 0 0 11.84 15.99 15.89

3475.83 1156 258.64 1.03 0.00 1972.6 2055.3 1889.8 2012.7 3619.2 17.17 12.71 465 3484.07 0.00 0.00 3.42 0.000 0.000 0.048 1973.69 2056.25 1891.12 2013.19 2118.50 0 0 0 30.00 30.00 15.94

3668.38 10919 367.21 1.32 -80.00 1971.5 2053.1 1889.9 2013.4 2118.3 3.25 4.82 502 3762.22 78.96 0.35 3.52 0.918 0.089 0.110 1533.22 1641.81 1424.62 2075.56 679.81 0 0 0 11.83 15.98 15.75

3816 end climb: SURFACE_DEPTH_REACHED

state 3816 begin surface coast

4068 end surface coast: NO_VERTICAL_VELOCITY

state 4068 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	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	175	COMM_SEQ	7	C_VBD	3031.1638	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	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	1749.4349	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	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18.811874	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.458338	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	27.440155	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	-189.03369	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	240522,211736,4736.452,-12256.766,3,0.8,5,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240522,212140,4736.482,-12256.709,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	358.5,1033,-17.1,-9.697,-20.82,2278,0.121
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,0.026596,0.042122,0.011621,1.105304,-0.030256,0.003727,-0.032755,1.018910,427.064667,-1334.949951,-202.483078
TGT_LATLONG	4737.000,-12256.400

NAV	1653431341,-0.0,start	_10V_AH	14.87,0.000
NET	xm1t part outbox0003.n 986 9	FG_AHR_24Vo	27.604
NET_PING	1653430341,28,876.745483,14.500000,-1.160507	FG_AHR_10Vo	19.492
MODEM_MSG	CACST,8,1,20220524220501.482443,18,32767,39,0178,0000,246,02,02,01,02,-1,-01,-01,2,3,1,0,150,1.2,1.92,-100,1.08,-01,1.13,72,925,0025,0,-1,00,00*3A	MEM0	60132,1,0,0
FINISH	-0.0,1.017777	MEM1	65508,1,0,0
SM_CCo	4277.01,163.26,0.901,0,572.6,643.4,501.7,603.05	MEM2	944432,34,102156,65
SM_GC	1.28,163.26,11.83,3.41,0.901,0.087,0.050,572.6,643.4,501.7,202.5,2171.6,0,0,0,11.70,15.90,15.92	DATA_FILE_SIZE	16137,578
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	5654903,0
IRIDIUM_FIX	4735.53,-12254.47,240522,200746	SDSIZE	3887104,3866496
TCM_TEMP	13.86	SDFILEDIR	85,1
SC_FREEKB	3877184	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	2,1653427803,47.61230,-122.96660,3.228,4729.7	CURRENT	0.066, 41.4,1
RAFOS_FIX	4732.720703,-12321.676758,240522,222201,4,255,4643.10	MAGCAL	1.000000,0.023795,0.049003,0.010685,1.071583,-0.048576,-0.006941,-0.037984,1.026658,420.8,-1316.7,-213.5,29,0.0265,0
HUMID	49.13	IMPLIED_C_PITCH	1752,18.61,289,1750.8,18.71
TEMP	11.00	IMPLIED_C_VBD	3005,32.001911,289,3018.2
INTERNAL_PRESSURE	8.12911	GPS	240522,223431,4737.027,-12256.482,18,1.1,30,15.5
_24V_AH	14.84,7.333

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	675	1084	10868.80	nil	0	0	0.00
Pitch_motor	28	290	121.85	nil	0	0	0.00
Roll_motor	76	188	214.83	nil	0	0	0.00
Iridium	132	215	422.67	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2981	5	227.02	SciCon	4076	6	416.33
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1296	0	6.17
Compass	1569	5	116.71
RAFOS	879	40	523.11
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.33	16386	-146.63	-1.09	0.00	582.4	657.5	507.2	197.2	2107.9	0.00	0.00	0	90.10	77.79	0.00	0.00	0.005	0.000	0.000	2430.47	2398.88	2462.06	197.19	2107.19	0	0	0	15.37	30.00	30.00
90.49	18983	-146.63	-1.09	-80.00	2429.4	2398.0	2460.8	197.1	2107.2	3.28	-2.60	14	161.35	40.28	10.48	3.43	0.005	0.290	0.110	3628.12	3620.19	3636.06	1485.12	679.50	0	0	0	15.91	15.72	15.84
390.85	3205	-146.63	-0.91	0.00	3629.7	3625.0	3634.4	1484.4	679.5	35.99	-11.16	72	399.10	0.00	0.31	3.40	0.000	0.191	0.047	3631.06	3626.69	3635.44	1528.38	2175.94	0	0	0	30.00	15.89	15.97
579.73	32	-146.63	-0.91	0.00	3629.9	3626.9	3633.0	1529.2	2175.5	51.05	-7.77	106	581.34	0.00	0.00	0.00	0.000	0.000	0.000	3628.72	3625.69	3631.75	1529.12	2175.94	0	0	0	30.00	30.00	30.00
770.01	32	-146.63	-0.91	0.00	3630.3	3627.7	3632.9	1529.2	2176.3	67.01	-8.55	125	771.63	0.00	0.00	0.00	0.000	0.000	0.000	3629.59	3626.81	3632.38	1528.25	2175.38	0	0	0	30.00	30.00	30.00
960.04	32	-146.63	-0.91	0.00	3630.5	3628.0	3633.0	1528.4	2175.6	83.23	-8.70	144	961.66	0.00	0.00	0.00	0.000	0.000	0.000	3629.88	3627.50	3632.25	1528.56	2175.50	0	0	0	30.00	30.00	30.00
1146.08	292	-146.63	-0.91	80.00	3630.4	3627.8	3633.1	1528.9	2175.8	99.03	-8.46	163	1154.37	0.00	0.00	3.47	0.000	0.000	0.109	3630.84	3627.75	3633.94	1529.12	3617.19	0	0	0	30.00	30.00	16.05
1177.88	1060	-146.63	-0.91	0.00	3630.7	3627.8	3633.6	1529.1	3617.9	102.15	-9.18	169	1186.76	0.00	0.00	3.38	0.000	0.000	0.048	3630.91	3628.06	3633.75	1528.56	2116.44	0	0	0	30.00	30.00	16.08
1373.79	548	-146.63	-0.91	-80.00	3630.7	3628.1	3633.4	1528.7	2115.8	118.82	-8.33	189	1382.02	0.00	0.00	3.44	0.000	0.000	0.111	3630.62	3628.06	3633.19	1528.62	680.62	0	0	0	30.00	30.00	16.06
1395.53	1060	-146.63	-0.91	0.00	3630.8	3628.1	3633.4	1529.2	681.3	120.87	-8.56	193	1404.44	0.00	0.00	3.39	0.000	0.000	0.048	3631.25	3629.25	3633.25	1528.75	2177.69	0	0	0	30.00	30.00	16.09
1591.51	420	-146.63	-0.94	80.00	3630.8	3628.6	3632.9	1529.1	2178.8	138.20	-9.03	213	1599.66	0.00	0.00	3.45	0.000	0.000	0.109	3630.34	3628.50	3632.19	1529.19	3617.44	0	0	0	30.00	30.00	16.08
1629.01	1028	-146.63	-0.94	0.00	3630.8	3628.4	3633.2	1529.2	3617.8	141.94	-9.89	220	1636.20	0.00	0.00	3.37	0.000	0.000	0.047	3630.78	3628.00	3633.56	1529.12	2115.94	0	0	0	30.00	30.00	16.12
1825.54	676	-146.63	-0.98	-80.00	3630.8	3628.8	3632.8	1529.1	2114.1	159.55	-8.93	241	1833.12	0.00	0.00	3.43	0.000	0.000	0.109	3629.72	3628.12	3631.31	1529.25	679.56	0	0	0	30.00	30.00	16.05
1838	end dive: TARGET_DEPTH_EXCEEDED
state	1838	begin apogee
1846.17	10243	0.00	-0.27	0.00	3630.5	3628.1	3633.0	1529.1	2175.9	160.66	-8.99	243	1969.24	111.47	1.08	0.09	1.084	0.157	0.189	3030.91	3084.25	2977.56	1684.69	2111.75	0	0	0	11.83	16.07	15.75
1970	end apogee: CONTROL_FINISHED_OK
state	1971	begin climb
1971.11	10243	146.63	1.09	0.00	3029.5	3082.7	2976.2	1684.9	2111.6	165.82	0.00	255	2096.50	114.21	2.24	0.00	1.046	0.121	0.000	2429.69	2497.56	2361.81	2014.62	2111.94	0	0	0	11.79	15.74	30.00
2277.83	4485	146.63	0.97	80.00	2426.5	2488.9	2364.2	2014.2	2111.6	137.48	12.15	288	2286.51	0.00	0.31	3.69	0.000	0.180	0.111	2428.09	2490.06	2366.12	1979.19	3616.88	0	0	0	30.00	15.71	15.74
2396.38	21639	146.63	0.85	0.00	2423.5	2483.2	2363.8	1978.4	3617.2	123.30	11.65	310	2404.56	0.00	0.20	3.45	0.000	0.200	0.048	2423.75	2483.94	2363.56	1947.56	2119.25	0	0	0	30.00	15.74	15.78
2591.13	10663	181.38	0.94	80.00	2423.8	2483.5	2364.0	1947.6	2119.4	106.59	8.14	330	2630.48	27.85	0.22	3.66	0.990	0.089	0.112	2291.84	2361.50	2222.19	1983.50	3618.12	0	0	0	11.76	15.88	15.77
2659.08	5253	181.38	0.84	0.00	2288.9	2357.7	2220.1	1983.2	3617.6	99.27	11.81	343	2668.29	0.00	0.31	3.44	0.000	0.184	0.048	2290.50	2358.56	2222.44	1945.31	2118.50	0	0	0	30.00	15.76	15.83
2854.96	10663	222.76	0.98	80.00	2287.6	2355.1	2220.1	1944.9	2117.8	82.68	7.84	363	2900.46	33.78	0.31	3.66	0.978	0.083	0.112	2121.19	2200.25	2042.12	1994.50	3615.81	0	0	0	11.88	15.91	15.80
2949.90	1156	222.76	0.93	0.00	2118.7	2195.4	2042.0	1994.3	3615.6	71.90	12.72	381	2958.17	0.00	0.00	3.42	0.000	0.000	0.048	2120.88	2197.12	2044.62	1994.88	2118.75	0	0	0	30.00	30.00	15.86
3144.81	260	222.76	0.93	80.00	2117.6	2193.1	2042.2	1993.6	2118.3	50.45	10.79	401	3153.33	0.00	0.00	3.64	0.000	0.000	0.110	2118.16	2193.50	2042.81	1994.62	3617.69	0	0	0	30.00	30.00	15.91
3202.81	5253	222.76	0.88	0.00	2116.4	2190.7	2042.1	1993.6	3617.2	43.21	12.91	412	3211.17	0.00	0.30	3.41	0.000	0.174	0.049	2118.31	2192.12	2044.50	1956.62	2118.62	0	0	0	30.00	15.90	15.96
3395.72	10663	258.64	1.06	80.00	2116.2	2190.7	2041.8	1956.1	2118.9	26.38	8.09	450	3436.29	27.97	0.35	3.65	0.933	0.083	0.111	1977.97	2063.56	1892.38	2012.56	3618.94	0	0	0	11.84	15.99	15.89
3475.83	1156	258.64	1.03	0.00	1972.6	2055.3	1889.8	2012.7	3619.2	17.17	12.71	465	3484.07	0.00	0.00	3.42	0.000	0.000	0.048	1973.69	2056.25	1891.12	2013.19	2118.50	0	0	0	30.00	30.00	15.94
3668.38	10919	367.21	1.32	-80.00	1971.5	2053.1	1889.9	2013.4	2118.3	3.25	4.82	502	3762.22	78.96	0.35	3.52	0.918	0.089	0.110	1533.22	1641.81	1424.62	2075.56	679.81	0	0	0	11.83	15.98	15.75
3816	end climb: SURFACE_DEPTH_REACHED
state	3816	begin surface coast
4068	end surface coast: NO_VERTICAL_VELOCITY
state	4068	begin surface