Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 1 * 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 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 1 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 1 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 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 3018.7148 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 1799.5891 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 17.807426 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.177551 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 5.7134218 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 1 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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.177551 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.7134218 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 17.807426 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 1799.5891 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 3018.7148 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 1 MISSION 4 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 250522,005254,4737.422,-12255.540,1,0.8,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.30 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,005450,4737.445,-12255.515,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 199.2,3256,-17.1,-9.697,-20.82,2278,0.000

SPEED_LIMITS 0.168,0.255 D_GRID 159

TGT_NAME S IRON 1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.045029,-890.596313,-433.708221

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653443942,5.9,start _10V_AH 15.00,0.000

NET xmit ok outbox0000.n 164 3 FG_AHR_24Vo 5.867

NET_PING 1653442690,28,2576.876953,19.100000,-3.426767 FG_AHR_10Vo 15.210

FREEZE 6.02,12.455,-1.503,0,1,0 MEM0 60132,1,0,0

SM_CCo 4175.90,229.91,0.916,0,501.0,517.0,484.9,617.43 MEM1 65508,1,0,0

SM_GC 1.61,0.00,12.10,3.53,0.000,0.063,0.059,497.8,514.7,480.9,186.3,2168.6,0,0,0,30.00,15.59,15.60 MEM2 944612,30,102136,61

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16089,599

IRIDIUM_FIX 4738.33,-12256.21,250522,005122 CAP_FILE_SIZE 416594,0

TCM_TEMP 17.92 SDSIZE 3887104,3871488

SC_FREEKB 3878464 SDFILEDIR 58,1

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 49.56 CURRENT 0.072, 47.9,1

TEMP 10.59 IMPLIED_C_PITCH 1794,18.67,292,1797.0,18.24

INTERNAL_PRESSURE 8.00138 IMPLIED_C_VBD 3126,38.031696,292,3072.2

_24V_AH 15.02,6.858 GPS 250522,020720,4737.262,-12255.732,1,1.9,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1090 10345.00 nil 0 0 0.00

Pitch_motor 29 252 110.80 nil 0 0 0.00

Roll_motor 86 200 258.75 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 2.99 nil 0 0 0.00

Core 2378 5 182.69 SciCon 3935 6 382.42

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1706 0 8.19

Compass 1208 5 90.66

RAFOS 879 40 527.49

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.66 16386 -146.63 -1.14 0.00 540.6 565.6 515.6 185.0 2128.6 0.00 0.00 0 89.92 81.32 0.00 0.00 0.005 0.000 0.000 2822.78 2853.62 2791.94 185.19 2129.12 0 0 0 16.16 30.00 30.00

90.24 18983 -146.63 -1.14 -80.00 2821.4 2852.1 2790.6 184.9 2129.1 3.06 -2.26 16 131.96 19.14 10.13 3.64 0.006 0.253 0.119 3615.91 3673.81 3558.00 1521.94 680.94 0 0 0 16.18 16.01 16.07

135.47 3237 -146.63 -0.61 0.00 3616.9 3673.6 3560.3 1522.2 681.0 7.74 -9.09 24 143.59 0.00 0.88 3.37 0.000 0.175 0.054 3616.91 3673.44 3560.38 1651.81 2179.25 0 0 0 30.00 16.06 16.11

324.41 4773 -146.63 -0.88 -80.00 3618.0 3674.3 3561.7 1651.6 2178.8 14.17 -3.14 59 332.57 0.00 0.50 3.80 0.000 0.074 0.116 3619.16 3675.31 3563.00 1570.25 681.88 0 0 0 30.00 16.09 16.07

420.99 1060 -146.63 -0.88 0.00 3618.1 3674.4 3561.8 1570.5 682.0 18.18 -4.09 78 427.66 0.00 0.00 3.37 0.000 0.000 0.052 3618.22 3674.69 3561.75 1570.62 2178.00 0 0 0 30.00 30.00 16.11

611.16 420 -146.63 -0.91 80.00 3618.4 3674.6 3562.2 1569.9 2177.9 24.92 -4.14 116 617.82 0.00 0.00 3.51 0.000 0.000 0.121 3619.12 3675.19 3563.06 1570.19 3616.44 0 0 0 30.00 30.00 16.07

726.70 3237 -146.63 -0.83 0.00 3618.3 3674.0 3562.6 1570.4 3616.6 31.92 -6.30 139 733.55 0.00 0.23 3.42 0.000 0.176 0.052 3619.75 3675.00 3564.50 1598.50 2119.38 0 0 0 30.00 16.07 16.13

917.94 160 -146.63 -0.90 0.00 3619.0 3674.2 3563.8 1598.2 2119.3 41.64 -5.20 177 922.47 0.00 0.00 0.00 0.000 0.000 0.000 3619.16 3675.44 3562.88 1598.19 2119.69 0 0 0 30.00 30.00 30.00

1102.97 4257 -146.63 -0.95 0.00 3618.9 3674.8 3563.1 1598.0 2119.2 52.03 -5.95 211 1104.78 0.00 0.25 0.00 0.000 0.078 0.000 3618.16 3673.81 3562.50 1551.12 2119.38 0 0 0 30.00 16.15 30.00

1292.98 2469 -146.63 -0.90 80.00 3618.9 3674.2 3563.6 1551.6 2119.2 66.78 -8.16 230 1300.23 0.00 0.25 3.63 0.000 0.168 0.121 3619.94 3675.19 3564.69 1581.88 3618.62 0 0 0 30.00 16.13 16.13

1366.14 1188 -146.63 -0.85 0.00 3619.4 3674.4 3564.4 1582.2 3617.9 73.14 -8.70 244 1373.48 0.00 0.00 3.43 0.000 0.000 0.055 3621.47 3675.69 3567.25 1582.38 2120.94 0 0 0 30.00 30.00 16.15

1556.88 548 -146.63 -0.85 -80.00 3619.6 3674.7 3564.5 1582.6 2121.1 87.09 -7.33 264 1564.01 0.00 0.00 3.63 0.000 0.000 0.125 3619.78 3674.50 3565.06 1582.62 684.25 0 0 0 30.00 30.00 16.13

1596.72 1060 -146.63 -0.85 0.00 3619.5 3675.0 3563.9 1582.0 684.0 90.55 -8.52 272 1604.11 0.00 0.00 3.38 0.000 0.000 0.056 3619.59 3674.38 3564.81 1582.69 2174.81 0 0 0 30.00 30.00 16.18

1792.57 420 -146.63 -0.89 80.00 3619.6 3674.4 3564.8 1582.2 2174.2 105.33 -7.76 292 1799.58 0.00 0.00 3.52 0.000 0.000 0.126 3619.06 3673.75 3564.38 1582.25 3615.62 0 0 0 30.00 30.00 16.15

1842.29 1060 -146.63 -0.89 0.00 3619.4 3674.3 3564.4 1582.1 3615.1 109.84 -9.20 302 1849.74 0.00 0.00 3.44 0.000 0.000 0.054 3620.31 3675.44 3565.19 1582.44 2120.88 0 0 0 30.00 30.00 16.18

2031.87 160 -146.63 -0.94 0.00 3619.2 3674.3 3564.1 1582.6 2121.1 124.90 -8.03 321 2033.43 0.00 0.00 0.00 0.000 0.000 0.000 3618.03 3673.56 3562.50 1582.00 2121.00 0 0 0 30.00 30.00 30.00

2221.89 420 -146.63 -0.99 80.00 3619.2 3674.8 3563.6 1582.5 2121.1 140.23 -7.95 340 2228.95 0.00 0.00 3.67 0.000 0.000 0.126 3620.09 3674.88 3565.31 1582.69 3616.50 0 0 0 30.00 30.00 16.13

2251 end dive: HALF_MISSION_TIME_EXCEEDED

state 2252 begin apogee

2257.70 10243 0.00 -0.28 0.00 3619.1 3674.3 3563.9 1582.2 2121.6 142.98 -8.33 346 2367.26 101.49 1.00 0.09 1.091 0.146 0.200 3016.66 3073.62 2959.69 1732.75 2179.19 0 0 0 12.02 16.11 15.79

2368 end apogee: CONTROL_FINISHED_OK

state 2368 begin climb

2368.39 10243 146.63 1.14 0.00 3016.3 3073.9 2958.6 1732.8 2179.3 146.76 0.00 357 2482.75 104.42 2.33 0.00 1.056 0.120 0.000 2419.44 2488.06 2350.81 2076.94 2179.81 0 0 0 11.84 15.78 30.00

2666.19 4741 146.63 1.01 -80.00 2412.8 2486.6 2338.9 2077.0 2179.6 114.28 13.55 387 2673.66 0.00 0.31 3.90 0.000 0.164 0.126 2414.09 2488.56 2339.62 2038.00 684.31 0 0 0 30.00 15.78 15.77

2752.17 21639 146.63 0.87 0.00 2410.0 2484.0 2336.0 2039.2 684.5 102.69 13.56 404 2759.38 0.00 0.22 3.45 0.000 0.179 0.059 2409.53 2483.75 2335.31 2003.50 2174.12 0 0 0 30.00 15.81 15.86

2947.23 676 150.80 0.92 -80.00 2409.7 2484.4 2335.0 2003.9 2173.3 83.57 9.51 424 2954.37 0.00 0.00 3.85 0.000 0.000 0.126 2410.16 2484.62 2335.69 2000.62 684.25 0 0 0 30.00 30.00 15.91

3032.87 1156 150.80 0.88 0.00 2408.5 2483.7 2333.2 2003.4 684.4 73.92 11.33 441 3038.83 0.00 0.00 3.42 0.000 0.000 0.060 2407.22 2482.94 2331.50 2003.56 2170.12 0 0 0 30.00 30.00 15.98

3222.94 10919 183.21 0.98 -80.00 2408.8 2484.1 2333.4 2003.6 2170.4 57.14 8.24 461 3260.79 26.84 0.23 3.85 0.957 0.082 0.126 2268.81 2346.75 2190.88 2045.12 683.25 0 0 0 12.00 16.02 15.90

3309.27 5253 183.21 0.87 0.00 2265.3 2343.8 2186.8 2045.4 682.9 47.02 13.39 478 3316.21 0.00 0.32 3.44 0.000 0.163 0.060 2267.62 2346.31 2188.94 2002.94 2169.56 0 0 0 30.00 15.92 15.95

3499.73 10919 210.61 1.00 -80.00 2263.3 2344.2 2182.4 2003.7 2168.8 30.01 8.47 516 3528.97 21.27 0.28 3.86 0.915 0.078 0.127 2155.59 2237.38 2073.81 2051.50 684.38 0 0 0 11.95 16.02 15.91

3552.44 1156 210.61 0.95 0.00 2154.6 2236.4 2072.9 2050.9 684.2 24.18 11.74 526 3559.12 0.00 0.00 3.44 0.000 0.000 0.059 2157.28 2239.56 2075.00 2050.88 2170.12 0 0 0 30.00 30.00 15.96

3742.60 10919 276.79 1.16 -80.00 2152.1 2235.9 2068.2 2051.1 2170.1 6.40 6.72 564 3800.46 47.10 0.16 3.89 0.925 0.115 0.121 1887.88 1981.38 1794.38 2083.19 684.38 0 0 0 11.97 16.01 15.84

3933 end climb: NO_VERTICAL_VELOCITY

state 3933 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	1	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	1	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	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	3018.7148	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	1799.5891	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	17.807426	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.177551	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	5.7134218	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	250522,005254,4737.422,-12255.540,1,0.8,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.30	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,005450,4737.445,-12255.515,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	199.2,3256,-17.1,-9.697,-20.82,2278,0.000
SPEED_LIMITS	0.168,0.255	D_GRID	159
TGT_NAME	S	IRON	1.000000,0.003296,0.003272,-0.005357,1.070760,-0.003900,0.014871,-0.052567,0.992644,83.045029,-890.596313,-433.708221
TGT_LATLONG	4736.000,-12257.000

NAV	1653443942,5.9,start	_10V_AH	15.00,0.000
NET	xmit ok outbox0000.n 164 3	FG_AHR_24Vo	5.867
NET_PING	1653442690,28,2576.876953,19.100000,-3.426767	FG_AHR_10Vo	15.210
FREEZE	6.02,12.455,-1.503,0,1,0	MEM0	60132,1,0,0
SM_CCo	4175.90,229.91,0.916,0,501.0,517.0,484.9,617.43	MEM1	65508,1,0,0
SM_GC	1.61,0.00,12.10,3.53,0.000,0.063,0.059,497.8,514.7,480.9,186.3,2168.6,0,0,0,30.00,15.59,15.60	MEM2	944612,30,102136,61
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16089,599
IRIDIUM_FIX	4738.33,-12256.21,250522,005122	CAP_FILE_SIZE	416594,0
TCM_TEMP	17.92	SDSIZE	3887104,3871488
SC_FREEKB	3878464	SDFILEDIR	58,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	49.56	CURRENT	0.072, 47.9,1
TEMP	10.59	IMPLIED_C_PITCH	1794,18.67,292,1797.0,18.24
INTERNAL_PRESSURE	8.00138	IMPLIED_C_VBD	3126,38.031696,292,3072.2
_24V_AH	15.02,6.858	GPS	250522,020720,4737.262,-12255.732,1,1.9,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1090	10345.00	nil	0	0	0.00
Pitch_motor	29	252	110.80	nil	0	0	0.00
Roll_motor	86	200	258.75	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	2.99	nil	0	0	0.00
Core	2378	5	182.69	SciCon	3935	6	382.42
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1706	0	8.19
Compass	1208	5	90.66
RAFOS	879	40	527.49
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.66	16386	-146.63	-1.14	0.00	540.6	565.6	515.6	185.0	2128.6	0.00	0.00	0	89.92	81.32	0.00	0.00	0.005	0.000	0.000	2822.78	2853.62	2791.94	185.19	2129.12	0	0	0	16.16	30.00	30.00
90.24	18983	-146.63	-1.14	-80.00	2821.4	2852.1	2790.6	184.9	2129.1	3.06	-2.26	16	131.96	19.14	10.13	3.64	0.006	0.253	0.119	3615.91	3673.81	3558.00	1521.94	680.94	0	0	0	16.18	16.01	16.07
135.47	3237	-146.63	-0.61	0.00	3616.9	3673.6	3560.3	1522.2	681.0	7.74	-9.09	24	143.59	0.00	0.88	3.37	0.000	0.175	0.054	3616.91	3673.44	3560.38	1651.81	2179.25	0	0	0	30.00	16.06	16.11
324.41	4773	-146.63	-0.88	-80.00	3618.0	3674.3	3561.7	1651.6	2178.8	14.17	-3.14	59	332.57	0.00	0.50	3.80	0.000	0.074	0.116	3619.16	3675.31	3563.00	1570.25	681.88	0	0	0	30.00	16.09	16.07
420.99	1060	-146.63	-0.88	0.00	3618.1	3674.4	3561.8	1570.5	682.0	18.18	-4.09	78	427.66	0.00	0.00	3.37	0.000	0.000	0.052	3618.22	3674.69	3561.75	1570.62	2178.00	0	0	0	30.00	30.00	16.11
611.16	420	-146.63	-0.91	80.00	3618.4	3674.6	3562.2	1569.9	2177.9	24.92	-4.14	116	617.82	0.00	0.00	3.51	0.000	0.000	0.121	3619.12	3675.19	3563.06	1570.19	3616.44	0	0	0	30.00	30.00	16.07
726.70	3237	-146.63	-0.83	0.00	3618.3	3674.0	3562.6	1570.4	3616.6	31.92	-6.30	139	733.55	0.00	0.23	3.42	0.000	0.176	0.052	3619.75	3675.00	3564.50	1598.50	2119.38	0	0	0	30.00	16.07	16.13
917.94	160	-146.63	-0.90	0.00	3619.0	3674.2	3563.8	1598.2	2119.3	41.64	-5.20	177	922.47	0.00	0.00	0.00	0.000	0.000	0.000	3619.16	3675.44	3562.88	1598.19	2119.69	0	0	0	30.00	30.00	30.00
1102.97	4257	-146.63	-0.95	0.00	3618.9	3674.8	3563.1	1598.0	2119.2	52.03	-5.95	211	1104.78	0.00	0.25	0.00	0.000	0.078	0.000	3618.16	3673.81	3562.50	1551.12	2119.38	0	0	0	30.00	16.15	30.00
1292.98	2469	-146.63	-0.90	80.00	3618.9	3674.2	3563.6	1551.6	2119.2	66.78	-8.16	230	1300.23	0.00	0.25	3.63	0.000	0.168	0.121	3619.94	3675.19	3564.69	1581.88	3618.62	0	0	0	30.00	16.13	16.13
1366.14	1188	-146.63	-0.85	0.00	3619.4	3674.4	3564.4	1582.2	3617.9	73.14	-8.70	244	1373.48	0.00	0.00	3.43	0.000	0.000	0.055	3621.47	3675.69	3567.25	1582.38	2120.94	0	0	0	30.00	30.00	16.15
1556.88	548	-146.63	-0.85	-80.00	3619.6	3674.7	3564.5	1582.6	2121.1	87.09	-7.33	264	1564.01	0.00	0.00	3.63	0.000	0.000	0.125	3619.78	3674.50	3565.06	1582.62	684.25	0	0	0	30.00	30.00	16.13
1596.72	1060	-146.63	-0.85	0.00	3619.5	3675.0	3563.9	1582.0	684.0	90.55	-8.52	272	1604.11	0.00	0.00	3.38	0.000	0.000	0.056	3619.59	3674.38	3564.81	1582.69	2174.81	0	0	0	30.00	30.00	16.18
1792.57	420	-146.63	-0.89	80.00	3619.6	3674.4	3564.8	1582.2	2174.2	105.33	-7.76	292	1799.58	0.00	0.00	3.52	0.000	0.000	0.126	3619.06	3673.75	3564.38	1582.25	3615.62	0	0	0	30.00	30.00	16.15
1842.29	1060	-146.63	-0.89	0.00	3619.4	3674.3	3564.4	1582.1	3615.1	109.84	-9.20	302	1849.74	0.00	0.00	3.44	0.000	0.000	0.054	3620.31	3675.44	3565.19	1582.44	2120.88	0	0	0	30.00	30.00	16.18
2031.87	160	-146.63	-0.94	0.00	3619.2	3674.3	3564.1	1582.6	2121.1	124.90	-8.03	321	2033.43	0.00	0.00	0.00	0.000	0.000	0.000	3618.03	3673.56	3562.50	1582.00	2121.00	0	0	0	30.00	30.00	30.00
2221.89	420	-146.63	-0.99	80.00	3619.2	3674.8	3563.6	1582.5	2121.1	140.23	-7.95	340	2228.95	0.00	0.00	3.67	0.000	0.000	0.126	3620.09	3674.88	3565.31	1582.69	3616.50	0	0	0	30.00	30.00	16.13
2251	end dive: HALF_MISSION_TIME_EXCEEDED
state	2252	begin apogee
2257.70	10243	0.00	-0.28	0.00	3619.1	3674.3	3563.9	1582.2	2121.6	142.98	-8.33	346	2367.26	101.49	1.00	0.09	1.091	0.146	0.200	3016.66	3073.62	2959.69	1732.75	2179.19	0	0	0	12.02	16.11	15.79
2368	end apogee: CONTROL_FINISHED_OK
state	2368	begin climb
2368.39	10243	146.63	1.14	0.00	3016.3	3073.9	2958.6	1732.8	2179.3	146.76	0.00	357	2482.75	104.42	2.33	0.00	1.056	0.120	0.000	2419.44	2488.06	2350.81	2076.94	2179.81	0	0	0	11.84	15.78	30.00
2666.19	4741	146.63	1.01	-80.00	2412.8	2486.6	2338.9	2077.0	2179.6	114.28	13.55	387	2673.66	0.00	0.31	3.90	0.000	0.164	0.126	2414.09	2488.56	2339.62	2038.00	684.31	0	0	0	30.00	15.78	15.77
2752.17	21639	146.63	0.87	0.00	2410.0	2484.0	2336.0	2039.2	684.5	102.69	13.56	404	2759.38	0.00	0.22	3.45	0.000	0.179	0.059	2409.53	2483.75	2335.31	2003.50	2174.12	0	0	0	30.00	15.81	15.86
2947.23	676	150.80	0.92	-80.00	2409.7	2484.4	2335.0	2003.9	2173.3	83.57	9.51	424	2954.37	0.00	0.00	3.85	0.000	0.000	0.126	2410.16	2484.62	2335.69	2000.62	684.25	0	0	0	30.00	30.00	15.91
3032.87	1156	150.80	0.88	0.00	2408.5	2483.7	2333.2	2003.4	684.4	73.92	11.33	441	3038.83	0.00	0.00	3.42	0.000	0.000	0.060	2407.22	2482.94	2331.50	2003.56	2170.12	0	0	0	30.00	30.00	15.98
3222.94	10919	183.21	0.98	-80.00	2408.8	2484.1	2333.4	2003.6	2170.4	57.14	8.24	461	3260.79	26.84	0.23	3.85	0.957	0.082	0.126	2268.81	2346.75	2190.88	2045.12	683.25	0	0	0	12.00	16.02	15.90
3309.27	5253	183.21	0.87	0.00	2265.3	2343.8	2186.8	2045.4	682.9	47.02	13.39	478	3316.21	0.00	0.32	3.44	0.000	0.163	0.060	2267.62	2346.31	2188.94	2002.94	2169.56	0	0	0	30.00	15.92	15.95
3499.73	10919	210.61	1.00	-80.00	2263.3	2344.2	2182.4	2003.7	2168.8	30.01	8.47	516	3528.97	21.27	0.28	3.86	0.915	0.078	0.127	2155.59	2237.38	2073.81	2051.50	684.38	0	0	0	11.95	16.02	15.91
3552.44	1156	210.61	0.95	0.00	2154.6	2236.4	2072.9	2050.9	684.2	24.18	11.74	526	3559.12	0.00	0.00	3.44	0.000	0.000	0.059	2157.28	2239.56	2075.00	2050.88	2170.12	0	0	0	30.00	30.00	15.96
3742.60	10919	276.79	1.16	-80.00	2152.1	2235.9	2068.2	2051.1	2170.1	6.40	6.72	564	3800.46	47.10	0.16	3.89	0.925	0.115	0.121	1887.88	1981.38	1794.38	2083.19	684.38	0	0	0	11.97	16.01	15.84
3933	end climb: NO_VERTICAL_VELOCITY
state	3933	begin surface