Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 10 * 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 7 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 10 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 611.3277 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 3008.9287 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 1750.4902 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 17.77059 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.748632 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 29.451767 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 0 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 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.748632 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.451767 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 17.77059 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 1750.4902 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 3008.9287 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 10 MISSION 7 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 250522,130958,4736.391,-12256.719,2,1.2,7,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,131307,4736.432,-12256.660,2,0.9,5,15.5 MHEAD_RNG_PITCHd_Wd 196.4,906,-17.1,-9.697,-20.82,2278,0.147

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

FINISH 1.8,1.020610 FG_AHR_10Vo 19.767

SM_CCo 4292.90,243.13,0.906,0,516.8,555.1,478.6,611.08 MEM0 60132,1,0,0

SM_GC 1.27,243.13,11.52,3.39,0.906,0.087,0.045,516.8,555.1,478.6,195.1,2110.5,0,0,0,11.69,15.93,15.98 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 944632,29,102116,62

IRIDIUM_FIX 4736.00,-12258.89,250522,115701 DATA_FILE_SIZE 16086,572

TCM_TEMP 12.84 CAP_FILE_SIZE 385444,0

SC_FREEKB 3875584 SDSIZE 3887104,3868288

RAFOS_CLK -6 SDFILEDIR 125,1

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.01 SOUNDSPEED 1465.0

TEMP 10.20 CURRENT 0.087, 43.9,1

INTERNAL_PRESSURE 8.09054 MAGCAL 1.000000,-0.001901,-0.084511,0.015978,1.103927,-0.098650,0.030191,-0.012915,1.086393,537.4,-1294.9,-232.3,22,0.0305,0

_24V_AH 14.83,9.441 IMPLIED_C_PITCH 1750,18.10,300,1750.1,17.93

_10V_AH 14.86,0.000 IMPLIED_C_VBD 2994,25.551140,300,3001.4

FG_AHR_24Vo 29.618 GPS 250522,142601,4736.197,-12256.781,22,0.9,23,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 681 1090 11027.08 nil 0 0 0.00

Pitch_motor 29 290 125.19 nil 0 0 0.00

Roll_motor 84 188 236.02 nil 0 0 0.00

Iridium 119 216 383.28 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 2379 5 181.01 SciCon 4017 6 413.31

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1816 0 8.64

Compass 1161 5 86.29

RAFOS 0 0 0.00

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

6.62 16386 -146.63 -1.14 0.00 516.3 584.2 448.4 201.0 2107.3 0.00 0.00 0 97.90 87.11 0.00 0.00 0.005 0.000 0.000 2511.59 2486.94 2536.25 201.25 2107.56 0 0 0 15.66 30.00 30.00

98.21 18727 -146.63 -1.14 80.00 2510.4 2485.9 2534.9 201.1 2106.9 3.08 -2.52 16 154.42 31.51 10.56 3.68 0.005 0.291 0.104 3605.97 3598.25 3613.69 1472.56 3617.75 0 0 0 15.86 15.68 15.80

157.88 3205 -146.63 -0.82 0.00 3606.1 3598.4 3613.8 1471.9 3617.6 9.91 -10.49 27 164.94 0.00 0.56 3.42 0.000 0.188 0.046 3606.44 3599.00 3613.88 1551.94 2116.06 0 0 0 30.00 15.75 15.83

348.45 420 -146.63 -0.87 80.00 3607.7 3603.9 3611.5 1551.4 2115.8 26.20 -7.78 65 355.16 0.00 0.00 3.66 0.000 0.000 0.103 3607.31 3603.56 3611.06 1552.81 3616.50 0 0 0 30.00 30.00 15.89

403.59 1060 -146.63 -0.87 0.00 3607.6 3603.9 3611.3 1552.9 3616.9 31.03 -8.94 76 410.43 0.00 0.00 3.41 0.000 0.000 0.045 3607.75 3603.88 3611.62 1552.25 2116.75 0 0 0 30.00 30.00 15.94

591.90 4773 -146.63 -0.94 -80.00 3608.0 3604.7 3611.3 1552.3 2115.9 44.25 -6.89 113 598.93 0.00 0.28 3.48 0.000 0.086 0.110 3608.41 3605.31 3611.50 1509.00 681.94 0 0 0 30.00 15.97 15.94

632.50 3205 -146.63 -0.84 0.00 3607.5 3604.4 3610.6 1508.9 682.3 48.17 -10.00 121 639.56 0.00 0.32 3.39 0.000 0.174 0.045 3607.78 3604.31 3611.25 1546.38 2181.00 0 0 0 30.00 15.94 15.99

823.14 420 -146.63 -0.90 80.00 3607.6 3605.2 3610.1 1546.9 2181.1 62.99 -7.41 142 830.28 0.00 0.00 3.47 0.000 0.000 0.106 3607.31 3604.62 3610.00 1546.62 3618.69 0 0 0 30.00 30.00 16.00

853.07 1060 -146.63 -0.90 0.00 3607.6 3604.9 3610.3 1546.2 3619.2 65.61 -7.96 148 860.62 0.00 0.00 3.39 0.000 0.000 0.045 3608.88 3606.00 3611.75 1546.75 2116.50 0 0 0 30.00 30.00 16.03

1042.93 4257 -146.63 -0.96 0.00 3608.0 3605.8 3610.2 1546.6 2116.1 79.70 -7.47 168 1044.81 0.00 0.27 0.00 0.000 0.089 0.000 3609.22 3606.56 3611.88 1502.12 2116.00 0 0 0 30.00 16.03 30.00

1232.86 292 -146.63 -0.96 80.00 3608.0 3605.2 3610.8 1501.8 2115.8 97.29 -9.45 187 1240.16 0.00 0.00 3.62 0.000 0.000 0.104 3607.75 3605.31 3610.19 1502.62 3618.88 0 0 0 30.00 30.00 16.04

1293.11 3205 -146.63 -0.87 0.00 3607.6 3605.2 3610.1 1501.8 3618.8 103.99 -11.33 199 1300.81 0.00 0.32 3.38 0.000 0.175 0.047 3607.75 3605.44 3610.06 1540.25 2115.75 0 0 0 30.00 16.04 16.08

1488.82 420 -146.63 -0.92 80.00 3608.1 3605.7 3610.6 1540.4 2115.7 119.78 -8.00 219 1496.05 0.00 0.00 3.62 0.000 0.000 0.104 3609.00 3606.62 3611.38 1540.62 3619.06 0 0 0 30.00 30.00 16.08

1518.83 1060 -146.63 -0.92 0.00 3608.0 3605.8 3610.2 1540.3 3619.2 122.53 -8.44 225 1526.40 0.00 0.00 3.38 0.000 0.000 0.046 3608.94 3606.75 3611.12 1540.19 2116.06 0 0 0 30.00 30.00 16.10

1708.85 4257 -146.63 -0.99 0.00 3607.9 3605.6 3610.3 1540.1 2116.1 137.28 -7.88 244 1713.60 0.00 0.26 0.00 0.000 0.089 0.000 3608.47 3605.62 3611.31 1496.94 2114.75 0 0 0 30.00 16.08 30.00

1903.65 388 -146.63 -0.96 80.00 3608.1 3605.7 3610.6 1496.8 2115.1 156.99 -10.02 264 1910.92 0.00 0.00 3.61 0.000 0.000 0.105 3608.53 3606.12 3610.94 1496.88 3618.00 0 0 0 30.00 30.00 16.11

1934 end dive: TARGET_DEPTH_EXCEEDED

state 1934 begin apogee

1939.93 10243 0.00 -0.28 0.00 3607.8 3605.9 3609.7 1496.6 2117.2 160.45 -10.75 270 2060.95 111.64 1.36 0.09 1.091 0.161 0.188 3009.44 3063.38 2955.50 1683.00 2181.88 0 0 0 11.89 16.09 15.74

2062 end apogee: CONTROL_FINISHED_OK

state 2062 begin climb

2062.13 10759 146.63 1.14 -80.00 3006.8 3060.6 2952.9 1682.4 2181.8 165.07 0.00 282 2197.29 115.67 2.38 3.74 1.043 0.120 0.111 2410.22 2477.69 2342.75 2028.38 681.88 0 0 0 11.83 15.73 15.51

2200.22 5253 146.63 0.99 0.00 2407.1 2473.8 2340.4 2028.0 682.2 155.03 11.61 307 2208.00 0.00 0.38 3.48 0.000 0.189 0.046 2408.22 2474.56 2341.88 1983.69 2175.12 0 0 0 30.00 15.51 15.58

2395.83 292 147.19 0.99 80.00 2403.1 2466.4 2339.8 1983.7 2175.6 135.53 9.67 327 2402.11 0.00 0.00 3.55 0.000 0.000 0.109 2398.94 2462.94 2334.94 1983.88 3616.56 0 0 0 30.00 30.00 15.75

2440.15 1156 147.19 0.88 0.00 2401.1 2463.1 2339.2 1983.0 3616.4 130.38 11.72 336 2447.73 0.00 0.00 3.42 0.000 0.000 0.046 2401.34 2463.00 2339.69 1983.25 2119.62 0 0 0 30.00 30.00 15.81

2635.82 0 147.19 0.88 0.00 2401.3 2463.2 2339.4 1983.2 2119.7 111.12 9.78 356 2637.43 0.00 0.00 0.00 0.000 0.000 0.000 2400.56 2462.31 2338.81 1984.00 2120.31 0 0 0 30.00 30.00 30.00

2822.89 8486 151.84 0.89 80.00 2401.1 2462.5 2339.7 1983.1 2119.1 93.41 9.49 375 2835.32 5.48 0.00 3.67 0.648 0.000 0.110 2385.78 2448.25 2323.31 1983.12 3615.38 0 0 0 11.88 30.00 15.93

2911.01 5253 151.84 0.80 0.00 2385.9 2446.9 2324.8 1983.5 3614.8 83.97 10.80 392 2918.87 0.00 0.31 3.40 0.000 0.175 0.047 2388.78 2449.62 2327.94 1936.31 2117.69 0 0 0 30.00 15.88 15.96

3106.90 10403 198.72 0.96 0.00 2386.3 2447.2 2325.4 1935.9 2116.9 68.72 7.59 412 3149.23 38.19 0.34 0.00 0.984 0.078 0.000 2196.69 2272.81 2120.56 1989.62 2117.25 0 0 0 11.70 16.01 30.00

3331.79 260 198.72 0.96 80.00 2193.2 2265.8 2120.6 1988.9 2117.1 45.67 10.66 438 3338.84 0.00 0.00 3.65 0.000 0.000 0.109 2193.44 2265.81 2121.06 1989.69 3620.31 0 0 0 30.00 30.00 15.94

3367.41 1156 198.72 0.92 0.00 2191.9 2263.5 2120.2 1989.4 3619.8 41.62 11.38 445 3374.26 0.00 0.00 3.41 0.000 0.000 0.048 2194.28 2265.62 2122.94 1989.38 2118.81 0 0 0 30.00 30.00 15.97

3558.85 160 202.05 0.96 0.00 2192.0 2263.3 2120.7 1989.2 2118.8 22.75 9.55 483 3563.44 0.00 0.00 0.00 0.000 0.000 0.000 2192.16 2263.94 2120.38 1989.81 2118.50 0 0 0 30.00 30.00 30.00

3748.92 10663 262.28 1.12 80.00 2191.4 2262.4 2120.5 1989.2 2118.6 7.65 6.99 521 3808.93 49.01 0.19 3.67 0.936 0.093 0.108 1936.31 2026.62 1846.00 2029.00 3617.19 0 0 0 11.88 16.04 15.87

3923 end climb: SURFACE_DEPTH_REACHED

state 3923 begin surface coast

4008 end surface coast: CONTROL_FINISHED_OK

state 4008 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	10	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	611.3277	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	3008.9287	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	1750.4902	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	17.77059	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.748632	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	29.451767	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	250522,130958,4736.391,-12256.719,2,1.2,7,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,131307,4736.432,-12256.660,2,0.9,5,15.5	MHEAD_RNG_PITCHd_Wd	196.4,906,-17.1,-9.697,-20.82,2278,0.147
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175
TGT_LATLONG	4736.000,-12257.000

FINISH	1.8,1.020610	FG_AHR_10Vo	19.767
SM_CCo	4292.90,243.13,0.906,0,516.8,555.1,478.6,611.08	MEM0	60132,1,0,0
SM_GC	1.27,243.13,11.52,3.39,0.906,0.087,0.045,516.8,555.1,478.6,195.1,2110.5,0,0,0,11.69,15.93,15.98	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	944632,29,102116,62
IRIDIUM_FIX	4736.00,-12258.89,250522,115701	DATA_FILE_SIZE	16086,572
TCM_TEMP	12.84	CAP_FILE_SIZE	385444,0
SC_FREEKB	3875584	SDSIZE	3887104,3868288
RAFOS_CLK	-6	SDFILEDIR	125,1
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.01	SOUNDSPEED	1465.0
TEMP	10.20	CURRENT	0.087, 43.9,1
INTERNAL_PRESSURE	8.09054	MAGCAL	1.000000,-0.001901,-0.084511,0.015978,1.103927,-0.098650,0.030191,-0.012915,1.086393,537.4,-1294.9,-232.3,22,0.0305,0
_24V_AH	14.83,9.441	IMPLIED_C_PITCH	1750,18.10,300,1750.1,17.93
_10V_AH	14.86,0.000	IMPLIED_C_VBD	2994,25.551140,300,3001.4
FG_AHR_24Vo	29.618	GPS	250522,142601,4736.197,-12256.781,22,0.9,23,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	681	1090	11027.08	nil	0	0	0.00
Pitch_motor	29	290	125.19	nil	0	0	0.00
Roll_motor	84	188	236.02	nil	0	0	0.00
Iridium	119	216	383.28	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	2379	5	181.01	SciCon	4017	6	413.31
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1816	0	8.64
Compass	1161	5	86.29
RAFOS	0	0	0.00
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
6.62	16386	-146.63	-1.14	0.00	516.3	584.2	448.4	201.0	2107.3	0.00	0.00	0	97.90	87.11	0.00	0.00	0.005	0.000	0.000	2511.59	2486.94	2536.25	201.25	2107.56	0	0	0	15.66	30.00	30.00
98.21	18727	-146.63	-1.14	80.00	2510.4	2485.9	2534.9	201.1	2106.9	3.08	-2.52	16	154.42	31.51	10.56	3.68	0.005	0.291	0.104	3605.97	3598.25	3613.69	1472.56	3617.75	0	0	0	15.86	15.68	15.80
157.88	3205	-146.63	-0.82	0.00	3606.1	3598.4	3613.8	1471.9	3617.6	9.91	-10.49	27	164.94	0.00	0.56	3.42	0.000	0.188	0.046	3606.44	3599.00	3613.88	1551.94	2116.06	0	0	0	30.00	15.75	15.83
348.45	420	-146.63	-0.87	80.00	3607.7	3603.9	3611.5	1551.4	2115.8	26.20	-7.78	65	355.16	0.00	0.00	3.66	0.000	0.000	0.103	3607.31	3603.56	3611.06	1552.81	3616.50	0	0	0	30.00	30.00	15.89
403.59	1060	-146.63	-0.87	0.00	3607.6	3603.9	3611.3	1552.9	3616.9	31.03	-8.94	76	410.43	0.00	0.00	3.41	0.000	0.000	0.045	3607.75	3603.88	3611.62	1552.25	2116.75	0	0	0	30.00	30.00	15.94
591.90	4773	-146.63	-0.94	-80.00	3608.0	3604.7	3611.3	1552.3	2115.9	44.25	-6.89	113	598.93	0.00	0.28	3.48	0.000	0.086	0.110	3608.41	3605.31	3611.50	1509.00	681.94	0	0	0	30.00	15.97	15.94
632.50	3205	-146.63	-0.84	0.00	3607.5	3604.4	3610.6	1508.9	682.3	48.17	-10.00	121	639.56	0.00	0.32	3.39	0.000	0.174	0.045	3607.78	3604.31	3611.25	1546.38	2181.00	0	0	0	30.00	15.94	15.99
823.14	420	-146.63	-0.90	80.00	3607.6	3605.2	3610.1	1546.9	2181.1	62.99	-7.41	142	830.28	0.00	0.00	3.47	0.000	0.000	0.106	3607.31	3604.62	3610.00	1546.62	3618.69	0	0	0	30.00	30.00	16.00
853.07	1060	-146.63	-0.90	0.00	3607.6	3604.9	3610.3	1546.2	3619.2	65.61	-7.96	148	860.62	0.00	0.00	3.39	0.000	0.000	0.045	3608.88	3606.00	3611.75	1546.75	2116.50	0	0	0	30.00	30.00	16.03
1042.93	4257	-146.63	-0.96	0.00	3608.0	3605.8	3610.2	1546.6	2116.1	79.70	-7.47	168	1044.81	0.00	0.27	0.00	0.000	0.089	0.000	3609.22	3606.56	3611.88	1502.12	2116.00	0	0	0	30.00	16.03	30.00
1232.86	292	-146.63	-0.96	80.00	3608.0	3605.2	3610.8	1501.8	2115.8	97.29	-9.45	187	1240.16	0.00	0.00	3.62	0.000	0.000	0.104	3607.75	3605.31	3610.19	1502.62	3618.88	0	0	0	30.00	30.00	16.04
1293.11	3205	-146.63	-0.87	0.00	3607.6	3605.2	3610.1	1501.8	3618.8	103.99	-11.33	199	1300.81	0.00	0.32	3.38	0.000	0.175	0.047	3607.75	3605.44	3610.06	1540.25	2115.75	0	0	0	30.00	16.04	16.08
1488.82	420	-146.63	-0.92	80.00	3608.1	3605.7	3610.6	1540.4	2115.7	119.78	-8.00	219	1496.05	0.00	0.00	3.62	0.000	0.000	0.104	3609.00	3606.62	3611.38	1540.62	3619.06	0	0	0	30.00	30.00	16.08
1518.83	1060	-146.63	-0.92	0.00	3608.0	3605.8	3610.2	1540.3	3619.2	122.53	-8.44	225	1526.40	0.00	0.00	3.38	0.000	0.000	0.046	3608.94	3606.75	3611.12	1540.19	2116.06	0	0	0	30.00	30.00	16.10
1708.85	4257	-146.63	-0.99	0.00	3607.9	3605.6	3610.3	1540.1	2116.1	137.28	-7.88	244	1713.60	0.00	0.26	0.00	0.000	0.089	0.000	3608.47	3605.62	3611.31	1496.94	2114.75	0	0	0	30.00	16.08	30.00
1903.65	388	-146.63	-0.96	80.00	3608.1	3605.7	3610.6	1496.8	2115.1	156.99	-10.02	264	1910.92	0.00	0.00	3.61	0.000	0.000	0.105	3608.53	3606.12	3610.94	1496.88	3618.00	0	0	0	30.00	30.00	16.11
1934	end dive: TARGET_DEPTH_EXCEEDED
state	1934	begin apogee
1939.93	10243	0.00	-0.28	0.00	3607.8	3605.9	3609.7	1496.6	2117.2	160.45	-10.75	270	2060.95	111.64	1.36	0.09	1.091	0.161	0.188	3009.44	3063.38	2955.50	1683.00	2181.88	0	0	0	11.89	16.09	15.74
2062	end apogee: CONTROL_FINISHED_OK
state	2062	begin climb
2062.13	10759	146.63	1.14	-80.00	3006.8	3060.6	2952.9	1682.4	2181.8	165.07	0.00	282	2197.29	115.67	2.38	3.74	1.043	0.120	0.111	2410.22	2477.69	2342.75	2028.38	681.88	0	0	0	11.83	15.73	15.51
2200.22	5253	146.63	0.99	0.00	2407.1	2473.8	2340.4	2028.0	682.2	155.03	11.61	307	2208.00	0.00	0.38	3.48	0.000	0.189	0.046	2408.22	2474.56	2341.88	1983.69	2175.12	0	0	0	30.00	15.51	15.58
2395.83	292	147.19	0.99	80.00	2403.1	2466.4	2339.8	1983.7	2175.6	135.53	9.67	327	2402.11	0.00	0.00	3.55	0.000	0.000	0.109	2398.94	2462.94	2334.94	1983.88	3616.56	0	0	0	30.00	30.00	15.75
2440.15	1156	147.19	0.88	0.00	2401.1	2463.1	2339.2	1983.0	3616.4	130.38	11.72	336	2447.73	0.00	0.00	3.42	0.000	0.000	0.046	2401.34	2463.00	2339.69	1983.25	2119.62	0	0	0	30.00	30.00	15.81
2635.82	0	147.19	0.88	0.00	2401.3	2463.2	2339.4	1983.2	2119.7	111.12	9.78	356	2637.43	0.00	0.00	0.00	0.000	0.000	0.000	2400.56	2462.31	2338.81	1984.00	2120.31	0	0	0	30.00	30.00	30.00
2822.89	8486	151.84	0.89	80.00	2401.1	2462.5	2339.7	1983.1	2119.1	93.41	9.49	375	2835.32	5.48	0.00	3.67	0.648	0.000	0.110	2385.78	2448.25	2323.31	1983.12	3615.38	0	0	0	11.88	30.00	15.93
2911.01	5253	151.84	0.80	0.00	2385.9	2446.9	2324.8	1983.5	3614.8	83.97	10.80	392	2918.87	0.00	0.31	3.40	0.000	0.175	0.047	2388.78	2449.62	2327.94	1936.31	2117.69	0	0	0	30.00	15.88	15.96
3106.90	10403	198.72	0.96	0.00	2386.3	2447.2	2325.4	1935.9	2116.9	68.72	7.59	412	3149.23	38.19	0.34	0.00	0.984	0.078	0.000	2196.69	2272.81	2120.56	1989.62	2117.25	0	0	0	11.70	16.01	30.00
3331.79	260	198.72	0.96	80.00	2193.2	2265.8	2120.6	1988.9	2117.1	45.67	10.66	438	3338.84	0.00	0.00	3.65	0.000	0.000	0.109	2193.44	2265.81	2121.06	1989.69	3620.31	0	0	0	30.00	30.00	15.94
3367.41	1156	198.72	0.92	0.00	2191.9	2263.5	2120.2	1989.4	3619.8	41.62	11.38	445	3374.26	0.00	0.00	3.41	0.000	0.000	0.048	2194.28	2265.62	2122.94	1989.38	2118.81	0	0	0	30.00	30.00	15.97
3558.85	160	202.05	0.96	0.00	2192.0	2263.3	2120.7	1989.2	2118.8	22.75	9.55	483	3563.44	0.00	0.00	0.00	0.000	0.000	0.000	2192.16	2263.94	2120.38	1989.81	2118.50	0	0	0	30.00	30.00	30.00
3748.92	10663	262.28	1.12	80.00	2191.4	2262.4	2120.5	1989.2	2118.6	7.65	6.99	521	3808.93	49.01	0.19	3.67	0.936	0.093	0.108	1936.31	2026.62	1846.00	2029.00	3617.19	0	0	0	11.88	16.04	15.87
3923	end climb: SURFACE_DEPTH_REACHED
state	3923	begin surface coast
4008	end surface coast: CONTROL_FINISHED_OK
state	4008	begin surface