Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 12 * 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 12 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 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 3025.4951 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 1788.1093 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 18.026657 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.413714 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.4959884 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 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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.413714 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.4959884 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 18.026657 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 1788.1093 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 3025.4951 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 12 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 250522,132538,4737.045,-12256.475,1,1.4,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,133002,4737.106,-12256.384,3,0.9,22,15.5 MHEAD_RNG_PITCHd_Wd 192.5,2189,-17.1,-9.697,-20.82,2278,0.151

SPEED_LIMITS 0.168,0.255 D_GRID 165

TGT_NAME S IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653489401,0.2,0,stop FG_AHR_10Vo 15.442

FINISH 0.3,1.019216 MEM0 60132,1,0,0

SM_CCo 3961.34,200.09,0.932,0,547.7,565.6,529.8,607.68 MEM1 65508,1,0,0

SM_GC 1.54,200.09,12.25,0.09,0.932,0.065,0.153,547.7,565.6,529.8,193.9,2115.6,0,0,0,11.95,15.82,15.82 MEM2 944504,32,102184,62

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12936,518

IRIDIUM_FIX 4735.53,-12254.47,250522,122325 CAP_FILE_SIZE 362636,0

TCM_TEMP 17.43 SDSIZE 3887104,3868416

SC_FREEKB 3874944 SDFILEDIR 134,1

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

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 SOUNDSPEED 1465.0

HUMID 49.41 CURRENT 0.103, 32.0,1

TEMP 9.67 MAGCAL 1.000000,0.005810,-0.094696,0.006745,1.116120,-0.065480,-0.002897,-0.042593,1.149586,113.6,-909.1,-537.6,32,0.0301,0

INTERNAL_PRESSURE 7.95997 IMPLIED_C_PITCH 1795,17.80,297,1791.4,17.91

_24V_AH 14.89,8.798 IMPLIED_C_VBD 3013,20.883459,297,3019.3

_10V_AH 14.89,0.000 GPS 250522,143706,4736.927,-12256.625,1,0.9,3,15.5

FG_AHR_24Vo 7.653

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1146 10795.04 nil 0 0 0.00

Pitch_motor 31 253 119.79 nil 0 0 0.00

Roll_motor 70 195 206.27 nil 0 0 0.00

Iridium 180 218 587.66 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 31 15 6.98 nil 0 0 0.00

Core 2327 5 177.44 SciCon 3734 6 360.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1669 0 7.95

Compass 1050 5 78.17

RAFOS 1217 40 724.95

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.61 16386 -146.63 -1.13 0.00 542.8 560.6 524.9 185.0 2168.8 0.00 0.00 0 82.70 72.52 0.00 0.00 0.005 0.000 0.000 2587.91 2629.75 2546.06 185.12 2168.94 0 0 0 15.81 30.00 30.00

83.01 18727 -146.63 -1.13 80.00 2586.3 2628.6 2544.1 185.2 2168.9 3.31 -2.15 12 133.65 26.13 10.45 3.56 0.006 0.254 0.128 3622.19 3680.06 3564.31 1513.81 3618.38 0 0 0 15.84 15.69 15.76

147.13 3205 -146.63 -0.85 0.00 3623.8 3680.1 3567.5 1513.6 3617.9 11.57 -15.21 24 154.24 0.00 0.49 3.45 0.000 0.184 0.054 3623.97 3680.25 3567.69 1581.56 2118.88 0 0 0 30.00 15.74 15.81

338.09 160 -146.63 -0.89 0.00 3624.2 3680.9 3567.5 1581.6 2118.6 28.27 -8.16 62 342.62 0.00 0.00 0.00 0.000 0.000 0.000 3623.81 3680.38 3567.25 1581.69 2118.31 0 0 0 30.00 30.00 30.00

527.71 420 -146.63 -0.94 80.00 3624.3 3680.6 3568.0 1581.6 2119.1 43.11 -7.90 99 534.61 0.00 0.00 3.68 0.000 0.000 0.123 3625.16 3682.19 3568.12 1581.62 3615.38 0 0 0 30.00 30.00 15.91

612.42 1060 -146.63 -0.94 0.00 3624.8 3681.0 3568.6 1581.6 3615.2 50.73 -8.97 116 620.06 0.00 0.00 3.42 0.000 0.000 0.055 3625.50 3682.00 3569.00 1581.44 2121.12 0 0 0 30.00 30.00 15.97

808.27 4773 -146.63 -0.99 -80.00 3624.8 3680.8 3568.7 1581.6 2120.9 65.88 -7.78 136 815.67 0.00 0.29 3.55 0.000 0.077 0.127 3627.22 3684.38 3570.06 1534.06 681.81 0 0 0 30.00 16.01 15.97

848.51 3205 -146.63 -0.86 0.00 3625.2 3681.4 3568.9 1534.7 681.8 70.03 -10.44 144 856.44 0.00 0.38 3.38 0.000 0.181 0.057 3625.59 3681.69 3569.50 1579.44 2174.81 0 0 0 30.00 15.97 16.02

1050.71 420 -146.63 -0.91 80.00 3624.9 3680.9 3568.9 1579.6 2175.4 85.91 -7.84 164 1061.38 0.00 0.00 3.52 0.000 0.000 0.127 3626.38 3682.25 3570.50 1579.50 3615.06 0 0 0 30.00 30.00 16.00

1089.90 1060 -146.63 -0.91 0.00 3625.4 3681.2 3569.6 1579.5 3616.1 89.94 -8.62 172 1096.01 0.00 0.00 3.40 0.000 0.000 0.054 3624.62 3681.25 3568.00 1579.62 2121.88 0 0 0 30.00 30.00 16.05

1283.05 4257 -146.63 -0.96 0.00 3625.0 3681.4 3568.6 1579.4 2121.4 105.42 -8.02 193 1284.93 0.00 0.23 0.00 0.000 0.083 0.000 3626.91 3679.88 3573.94 1539.88 2121.19 0 0 0 30.00 16.06 30.00

1473.03 388 -146.63 -0.93 80.00 3624.8 3680.8 3568.8 1539.2 2121.4 123.73 -9.84 212 1480.30 0.00 0.00 3.63 0.000 0.000 0.123 3624.34 3680.94 3567.75 1539.94 3617.00 0 0 0 30.00 30.00 16.06

1498.86 3205 -146.63 -0.86 0.00 3625.4 3681.3 3569.5 1540.2 3617.8 126.60 -10.38 217 1506.31 0.00 0.32 3.39 0.000 0.176 0.055 3624.69 3681.25 3568.12 1578.12 2120.69 0 0 0 30.00 16.05 16.10

1693.95 160 -146.63 -0.91 0.00 3625.2 3680.8 3569.6 1579.7 2120.9 143.69 -8.76 237 1695.56 0.00 0.00 0.00 0.000 0.000 0.000 3623.88 3679.31 3568.44 1579.56 2120.62 0 0 0 30.00 30.00 30.00

1878.29 4257 -146.63 -0.97 0.00 3625.0 3680.9 3569.0 1579.4 2120.8 158.89 -7.99 255 1880.25 0.00 0.25 0.00 0.000 0.083 0.000 3627.03 3682.56 3571.50 1536.56 2120.50 0 0 0 30.00 16.08 30.00

1898 end dive: TARGET_DEPTH_EXCEEDED

state 1898 begin apogee

1899.53 10243 0.00 -0.28 0.00 3625.3 3681.6 3569.1 1536.8 2179.4 160.79 -8.68 257 2014.00 103.13 1.32 0.10 1.146 0.155 0.196 3022.94 3078.62 2967.25 1721.31 2116.19 0 0 0 12.00 16.04 15.70

2015 end apogee: CONTROL_FINISHED_OK

state 2015 begin climb

2015.18 10243 146.63 1.13 0.00 3021.8 3078.4 2965.1 1721.2 2116.0 165.07 0.00 268 2131.46 106.79 2.35 0.00 1.106 0.120 0.000 2426.09 2494.50 2357.69 2063.56 2116.38 0 0 0 11.94 15.70 30.00

2314.99 17030 146.63 1.04 -80.00 2417.9 2491.3 2344.5 2063.2 2116.2 136.86 11.84 298 2322.23 0.00 0.00 3.60 0.000 0.000 0.131 2416.50 2490.00 2343.00 2064.38 683.00 0 0 0 30.00 30.00 15.70

2400.83 21639 146.63 0.83 0.00 2416.5 2489.0 2344.0 2063.3 682.8 124.68 14.73 315 2408.39 0.00 0.60 3.43 0.000 0.157 0.060 2420.16 2491.44 2348.88 1984.44 2168.94 0 0 0 30.00 15.77 15.80

2595.89 10919 183.62 0.97 -80.00 2416.2 2488.9 2343.6 1983.9 2169.2 107.77 8.04 335 2634.03 27.92 0.30 3.72 1.016 0.077 0.129 2273.44 2348.69 2198.19 2033.88 684.31 0 0 0 11.92 15.90 15.77

2657.61 5253 183.62 0.90 0.00 2271.2 2346.8 2195.6 2034.0 684.2 101.11 11.82 347 2665.00 0.00 0.27 3.42 0.000 0.158 0.059 2274.12 2349.50 2198.75 2000.50 2170.38 0 0 0 30.00 15.78 15.83

2847.79 10919 199.43 1.01 -80.00 2269.1 2346.7 2191.4 2000.6 2169.9 84.02 8.99 366 2869.79 13.55 0.25 3.71 0.925 0.080 0.128 2209.72 2288.69 2130.75 2044.12 684.06 0 0 0 11.97 15.90 15.82

2892.61 5253 199.43 0.95 0.00 2207.2 2285.8 2128.6 2044.3 684.4 78.19 12.53 375 2900.43 0.00 0.26 3.40 0.000 0.160 0.059 2207.75 2286.75 2128.75 2011.75 2168.69 0 0 0 30.00 15.85 15.88

3082.42 10919 205.46 1.03 -80.00 2205.8 2285.7 2126.0 2012.1 2169.4 59.76 9.43 395 3099.36 6.55 0.21 3.71 0.720 0.084 0.128 2186.47 2267.88 2105.06 2049.00 683.12 0 0 0 11.89 15.93 15.89

3172.95 5253 205.46 0.95 0.00 2183.8 2264.9 2102.8 2048.7 683.0 48.09 13.56 413 3179.98 0.00 0.29 3.39 0.000 0.155 0.060 2184.81 2266.00 2103.62 2011.12 2168.12 0 0 0 30.00 15.91 15.96

3363.59 10919 232.30 1.07 -80.00 2182.6 2264.2 2101.0 2010.8 2167.8 30.41 8.49 451 3397.03 21.58 0.28 3.69 0.946 0.078 0.127 2075.53 2157.94 1993.12 2057.69 680.62 0 0 0 12.12 16.00 15.90

3440.59 5253 232.30 1.01 0.00 2072.6 2155.8 1989.5 2058.5 680.4 21.30 12.57 466 3452.84 0.00 0.26 3.40 0.000 0.155 0.059 2071.97 2155.75 1988.19 2023.94 2170.44 0 0 0 30.00 15.91 15.95

3638.29 10919 332.01 1.35 -80.00 2070.2 2155.8 1984.6 2024.0 2169.8 6.30 5.22 501 3696.74 54.12 0.63 0.00 0.948 0.076 0.000 1770.31 1862.75 1677.88 2120.12 2171.12 0 0 0 11.94 15.98 30.00

3697 end climb: SURFACE_DEPTH_REACHED

state 3697 begin surface coast

3726 end surface coast: CONTROL_FINISHED_OK

state 3726 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	12	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	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	3025.4951	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	1788.1093	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	18.026657	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.413714	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.4959884	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	250522,132538,4737.045,-12256.475,1,1.4,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,133002,4737.106,-12256.384,3,0.9,22,15.5	MHEAD_RNG_PITCHd_Wd	192.5,2189,-17.1,-9.697,-20.82,2278,0.151
SPEED_LIMITS	0.168,0.255	D_GRID	165
TGT_NAME	S	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4736.000,-12257.000

NAV	1653489401,0.2,0,stop	FG_AHR_10Vo	15.442
FINISH	0.3,1.019216	MEM0	60132,1,0,0
SM_CCo	3961.34,200.09,0.932,0,547.7,565.6,529.8,607.68	MEM1	65508,1,0,0
SM_GC	1.54,200.09,12.25,0.09,0.932,0.065,0.153,547.7,565.6,529.8,193.9,2115.6,0,0,0,11.95,15.82,15.82	MEM2	944504,32,102184,62
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12936,518
IRIDIUM_FIX	4735.53,-12254.47,250522,122325	CAP_FILE_SIZE	362636,0
TCM_TEMP	17.43	SDSIZE	3887104,3868416
SC_FREEKB	3874944	SDFILEDIR	134,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	SOUNDSPEED	1465.0
HUMID	49.41	CURRENT	0.103, 32.0,1
TEMP	9.67	MAGCAL	1.000000,0.005810,-0.094696,0.006745,1.116120,-0.065480,-0.002897,-0.042593,1.149586,113.6,-909.1,-537.6,32,0.0301,0
INTERNAL_PRESSURE	7.95997	IMPLIED_C_PITCH	1795,17.80,297,1791.4,17.91
_24V_AH	14.89,8.798	IMPLIED_C_VBD	3013,20.883459,297,3019.3
_10V_AH	14.89,0.000	GPS	250522,143706,4736.927,-12256.625,1,0.9,3,15.5
FG_AHR_24Vo	7.653

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1146	10795.04	nil	0	0	0.00
Pitch_motor	31	253	119.79	nil	0	0	0.00
Roll_motor	70	195	206.27	nil	0	0	0.00
Iridium	180	218	587.66	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	31	15	6.98	nil	0	0	0.00
Core	2327	5	177.44	SciCon	3734	6	360.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1669	0	7.95
Compass	1050	5	78.17
RAFOS	1217	40	724.95
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.61	16386	-146.63	-1.13	0.00	542.8	560.6	524.9	185.0	2168.8	0.00	0.00	0	82.70	72.52	0.00	0.00	0.005	0.000	0.000	2587.91	2629.75	2546.06	185.12	2168.94	0	0	0	15.81	30.00	30.00
83.01	18727	-146.63	-1.13	80.00	2586.3	2628.6	2544.1	185.2	2168.9	3.31	-2.15	12	133.65	26.13	10.45	3.56	0.006	0.254	0.128	3622.19	3680.06	3564.31	1513.81	3618.38	0	0	0	15.84	15.69	15.76
147.13	3205	-146.63	-0.85	0.00	3623.8	3680.1	3567.5	1513.6	3617.9	11.57	-15.21	24	154.24	0.00	0.49	3.45	0.000	0.184	0.054	3623.97	3680.25	3567.69	1581.56	2118.88	0	0	0	30.00	15.74	15.81
338.09	160	-146.63	-0.89	0.00	3624.2	3680.9	3567.5	1581.6	2118.6	28.27	-8.16	62	342.62	0.00	0.00	0.00	0.000	0.000	0.000	3623.81	3680.38	3567.25	1581.69	2118.31	0	0	0	30.00	30.00	30.00
527.71	420	-146.63	-0.94	80.00	3624.3	3680.6	3568.0	1581.6	2119.1	43.11	-7.90	99	534.61	0.00	0.00	3.68	0.000	0.000	0.123	3625.16	3682.19	3568.12	1581.62	3615.38	0	0	0	30.00	30.00	15.91
612.42	1060	-146.63	-0.94	0.00	3624.8	3681.0	3568.6	1581.6	3615.2	50.73	-8.97	116	620.06	0.00	0.00	3.42	0.000	0.000	0.055	3625.50	3682.00	3569.00	1581.44	2121.12	0	0	0	30.00	30.00	15.97
808.27	4773	-146.63	-0.99	-80.00	3624.8	3680.8	3568.7	1581.6	2120.9	65.88	-7.78	136	815.67	0.00	0.29	3.55	0.000	0.077	0.127	3627.22	3684.38	3570.06	1534.06	681.81	0	0	0	30.00	16.01	15.97
848.51	3205	-146.63	-0.86	0.00	3625.2	3681.4	3568.9	1534.7	681.8	70.03	-10.44	144	856.44	0.00	0.38	3.38	0.000	0.181	0.057	3625.59	3681.69	3569.50	1579.44	2174.81	0	0	0	30.00	15.97	16.02
1050.71	420	-146.63	-0.91	80.00	3624.9	3680.9	3568.9	1579.6	2175.4	85.91	-7.84	164	1061.38	0.00	0.00	3.52	0.000	0.000	0.127	3626.38	3682.25	3570.50	1579.50	3615.06	0	0	0	30.00	30.00	16.00
1089.90	1060	-146.63	-0.91	0.00	3625.4	3681.2	3569.6	1579.5	3616.1	89.94	-8.62	172	1096.01	0.00	0.00	3.40	0.000	0.000	0.054	3624.62	3681.25	3568.00	1579.62	2121.88	0	0	0	30.00	30.00	16.05
1283.05	4257	-146.63	-0.96	0.00	3625.0	3681.4	3568.6	1579.4	2121.4	105.42	-8.02	193	1284.93	0.00	0.23	0.00	0.000	0.083	0.000	3626.91	3679.88	3573.94	1539.88	2121.19	0	0	0	30.00	16.06	30.00
1473.03	388	-146.63	-0.93	80.00	3624.8	3680.8	3568.8	1539.2	2121.4	123.73	-9.84	212	1480.30	0.00	0.00	3.63	0.000	0.000	0.123	3624.34	3680.94	3567.75	1539.94	3617.00	0	0	0	30.00	30.00	16.06
1498.86	3205	-146.63	-0.86	0.00	3625.4	3681.3	3569.5	1540.2	3617.8	126.60	-10.38	217	1506.31	0.00	0.32	3.39	0.000	0.176	0.055	3624.69	3681.25	3568.12	1578.12	2120.69	0	0	0	30.00	16.05	16.10
1693.95	160	-146.63	-0.91	0.00	3625.2	3680.8	3569.6	1579.7	2120.9	143.69	-8.76	237	1695.56	0.00	0.00	0.00	0.000	0.000	0.000	3623.88	3679.31	3568.44	1579.56	2120.62	0	0	0	30.00	30.00	30.00
1878.29	4257	-146.63	-0.97	0.00	3625.0	3680.9	3569.0	1579.4	2120.8	158.89	-7.99	255	1880.25	0.00	0.25	0.00	0.000	0.083	0.000	3627.03	3682.56	3571.50	1536.56	2120.50	0	0	0	30.00	16.08	30.00
1898	end dive: TARGET_DEPTH_EXCEEDED
state	1898	begin apogee
1899.53	10243	0.00	-0.28	0.00	3625.3	3681.6	3569.1	1536.8	2179.4	160.79	-8.68	257	2014.00	103.13	1.32	0.10	1.146	0.155	0.196	3022.94	3078.62	2967.25	1721.31	2116.19	0	0	0	12.00	16.04	15.70
2015	end apogee: CONTROL_FINISHED_OK
state	2015	begin climb
2015.18	10243	146.63	1.13	0.00	3021.8	3078.4	2965.1	1721.2	2116.0	165.07	0.00	268	2131.46	106.79	2.35	0.00	1.106	0.120	0.000	2426.09	2494.50	2357.69	2063.56	2116.38	0	0	0	11.94	15.70	30.00
2314.99	17030	146.63	1.04	-80.00	2417.9	2491.3	2344.5	2063.2	2116.2	136.86	11.84	298	2322.23	0.00	0.00	3.60	0.000	0.000	0.131	2416.50	2490.00	2343.00	2064.38	683.00	0	0	0	30.00	30.00	15.70
2400.83	21639	146.63	0.83	0.00	2416.5	2489.0	2344.0	2063.3	682.8	124.68	14.73	315	2408.39	0.00	0.60	3.43	0.000	0.157	0.060	2420.16	2491.44	2348.88	1984.44	2168.94	0	0	0	30.00	15.77	15.80
2595.89	10919	183.62	0.97	-80.00	2416.2	2488.9	2343.6	1983.9	2169.2	107.77	8.04	335	2634.03	27.92	0.30	3.72	1.016	0.077	0.129	2273.44	2348.69	2198.19	2033.88	684.31	0	0	0	11.92	15.90	15.77
2657.61	5253	183.62	0.90	0.00	2271.2	2346.8	2195.6	2034.0	684.2	101.11	11.82	347	2665.00	0.00	0.27	3.42	0.000	0.158	0.059	2274.12	2349.50	2198.75	2000.50	2170.38	0	0	0	30.00	15.78	15.83
2847.79	10919	199.43	1.01	-80.00	2269.1	2346.7	2191.4	2000.6	2169.9	84.02	8.99	366	2869.79	13.55	0.25	3.71	0.925	0.080	0.128	2209.72	2288.69	2130.75	2044.12	684.06	0	0	0	11.97	15.90	15.82
2892.61	5253	199.43	0.95	0.00	2207.2	2285.8	2128.6	2044.3	684.4	78.19	12.53	375	2900.43	0.00	0.26	3.40	0.000	0.160	0.059	2207.75	2286.75	2128.75	2011.75	2168.69	0	0	0	30.00	15.85	15.88
3082.42	10919	205.46	1.03	-80.00	2205.8	2285.7	2126.0	2012.1	2169.4	59.76	9.43	395	3099.36	6.55	0.21	3.71	0.720	0.084	0.128	2186.47	2267.88	2105.06	2049.00	683.12	0	0	0	11.89	15.93	15.89
3172.95	5253	205.46	0.95	0.00	2183.8	2264.9	2102.8	2048.7	683.0	48.09	13.56	413	3179.98	0.00	0.29	3.39	0.000	0.155	0.060	2184.81	2266.00	2103.62	2011.12	2168.12	0	0	0	30.00	15.91	15.96
3363.59	10919	232.30	1.07	-80.00	2182.6	2264.2	2101.0	2010.8	2167.8	30.41	8.49	451	3397.03	21.58	0.28	3.69	0.946	0.078	0.127	2075.53	2157.94	1993.12	2057.69	680.62	0	0	0	12.12	16.00	15.90
3440.59	5253	232.30	1.01	0.00	2072.6	2155.8	1989.5	2058.5	680.4	21.30	12.57	466	3452.84	0.00	0.26	3.40	0.000	0.155	0.059	2071.97	2155.75	1988.19	2023.94	2170.44	0	0	0	30.00	15.91	15.95
3638.29	10919	332.01	1.35	-80.00	2070.2	2155.8	1984.6	2024.0	2169.8	6.30	5.22	501	3696.74	54.12	0.63	0.00	0.948	0.076	0.000	1770.31	1862.75	1677.88	2120.12	2171.12	0	0	0	11.94	15.98	30.00
3697	end climb: SURFACE_DEPTH_REACHED
state	3697	begin surface coast
3726	end surface coast: CONTROL_FINISHED_OK
state	3726	begin surface