Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 15 * 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 15 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 3016.9912 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 1794.9902 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 18.002335 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.502938 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.9956779 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 15.502938 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.9956779 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 18.002335 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 1794.9902 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 3016.9912 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 15 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 250522,170431,4736.702,-12256.652,20,0.9,21,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,170738,4736.745,-12256.603,3,0.7,5,15.5 MHEAD_RNG_PITCHd_Wd 187.3,1466,-17.1,-9.697,-20.82,2278,0.121

SPEED_LIMITS 0.168,0.255 D_GRID 168

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 1653502031,15.0,0,stop FG_AHR_24Vo 8.154

NET xm1t part outbox0005.n 955 10 FG_AHR_10Vo 15.532

NET_PING 1653501499,25,1557.979492,15.600000,-2.065601 MEM0 60132,1,0,0

FREEZE 3.74,13.364,-1.455,0,1,0 MEM1 65508,1,0,0

SM_CCo 4088.22,189.92,0.927,0,501.4,524.6,478.2,616.82 MEM2 944456,35,102172,62

SM_GC 1.67,0.00,13.09,0.09,0.000,0.067,0.156,498.6,522.2,475.1,193.5,2124.4,0,0,0,30.00,15.56,15.56 DATA_FILE_SIZE 16153,558

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 386169,0

IRIDIUM_FIX 4736.47,-12303.31,250522,155624 SDSIZE 3887104,3867552

TCM_TEMP 17.59 SDFILEDIR 155,1

SC_FREEKB 3873984 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 CURRENT 0.014,350.1,1

HUMID 49.26 MAGCAL 1.000000,0.005889,-0.021359,-0.006178,1.073340,-0.023058,0.019216,-0.081928,0.953275,44.8,-926.5,-409.8,36,0.0297,0

TEMP 10.21 IMPLIED_C_PITCH 1796,17.65,295,1795.5,17.83

INTERNAL_PRESSURE 7.98086 IMPLIED_C_VBD 2959,26.534931,295,2987.9

_24V_AH 15.03,9.361 GPS 250522,181833,4736.353,-12256.955,1,1.3,3,15.5

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 642 1153 11141.34 nil 0 0 0.00

Pitch_motor 32 254 126.14 nil 0 0 0.00

Roll_motor 71 200 215.52 nil 0 0 0.00

Iridium 118 212 378.37 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 2472 5 189.87 SciCon 3895 6 380.81

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1691 0 8.12

Compass 1138 5 85.38

RAFOS 1077 40 646.39

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

6.71 16386 -146.63 -1.13 0.00 525.4 541.4 509.4 185.2 2164.6 0.00 0.00 0 74.08 64.08 0.00 0.00 0.005 0.000 0.000 2359.81 2406.69 2312.94 185.06 2165.12 0 0 0 15.30 30.00 30.00

74.38 18727 -146.63 -1.13 80.00 2358.3 2405.2 2311.4 185.1 2164.8 3.12 -2.41 11 133.39 35.25 10.57 3.59 0.005 0.255 0.124 3613.50 3672.44 3554.56 1519.56 3616.38 0 0 0 15.81 15.66 15.75

136.86 3205 -146.63 -0.78 0.00 3613.5 3670.7 3556.4 1519.6 3616.2 8.08 -10.17 23 143.95 0.00 0.62 3.47 0.000 0.201 0.052 3614.12 3671.50 3556.75 1605.94 2119.94 0 0 0 30.00 15.72 15.80

327.45 420 -146.63 -0.82 80.00 3615.1 3673.6 3556.6 1605.7 2120.3 24.03 -7.75 61 334.25 0.00 0.00 3.70 0.000 0.000 0.122 3615.50 3673.69 3557.31 1605.75 3615.62 0 0 0 30.00 30.00 15.85

392.76 1188 -146.63 -0.86 0.00 3615.0 3673.2 3556.8 1605.9 3615.5 29.86 -9.02 74 399.40 0.00 0.00 3.48 0.000 0.000 0.054 3615.72 3673.50 3557.94 1605.81 2119.94 0 0 0 30.00 30.00 15.91

583.00 4257 -146.63 -0.94 0.00 3615.1 3673.4 3556.8 1606.0 2120.3 44.01 -7.44 112 587.90 0.00 0.34 0.00 0.000 0.070 0.000 3617.62 3676.62 3558.62 1547.81 2119.94 0 0 0 30.00 15.96 30.00

771.01 292 -146.63 -0.94 80.00 3615.7 3674.1 3557.4 1547.2 2119.8 61.48 -9.58 137 778.33 0.00 0.00 3.67 0.000 0.000 0.123 3615.19 3673.62 3556.75 1547.38 3616.88 0 0 0 30.00 30.00 15.96

791.16 3205 -146.63 -0.88 0.00 3615.5 3673.6 3557.4 1547.9 3616.6 63.72 -9.99 141 798.99 0.00 0.28 3.46 0.000 0.173 0.053 3615.38 3673.69 3557.06 1582.38 2122.81 0 0 0 30.00 15.96 16.00

986.98 160 -146.63 -0.93 0.00 3615.5 3673.8 3557.2 1581.9 2122.8 80.27 -8.34 161 988.60 0.00 0.00 0.00 0.000 0.000 0.000 3614.31 3672.94 3555.69 1582.44 2122.69 0 0 0 30.00 30.00 30.00

1177.01 4257 -146.63 -0.98 0.00 3615.1 3673.4 3556.7 1582.1 2123.1 96.07 -8.31 180 1178.88 0.00 0.24 0.00 0.000 0.081 0.000 3615.44 3674.19 3556.69 1540.50 2123.38 0 0 0 30.00 16.06 30.00

1361.64 388 -146.63 -0.95 80.00 3615.1 3672.4 3557.7 1540.3 2122.7 114.09 -9.80 198 1368.92 0.00 0.00 3.64 0.000 0.000 0.123 3614.47 3672.94 3556.00 1539.94 3613.44 0 0 0 30.00 30.00 16.02

1407.49 3205 -146.63 -0.85 0.00 3615.4 3673.5 3557.2 1540.2 3614.0 119.27 -11.55 207 1414.95 0.00 0.40 3.45 0.000 0.170 0.055 3616.34 3674.56 3558.12 1589.44 2121.56 0 0 0 30.00 15.99 16.05

1602.58 160 -146.63 -0.92 0.00 3615.8 3673.8 3557.8 1589.3 2121.4 136.03 -8.80 227 1604.18 0.00 0.00 0.00 0.000 0.000 0.000 3614.91 3673.31 3556.50 1589.56 2121.00 0 0 0 30.00 30.00 30.00

1797.85 4225 -146.63 -0.98 0.00 3615.8 3673.6 3558.0 1589.7 2120.8 154.01 -10.59 246 1803.66 0.00 0.28 0.00 0.000 0.074 0.000 3615.72 3673.81 3557.62 1540.56 2121.75 0 0 0 30.00 16.07 30.00

1853 end dive: TARGET_DEPTH_EXCEEDED

state 1853 begin apogee

1854.13 10243 0.00 -0.28 0.00 3616.0 3673.8 3558.1 1540.3 2179.1 160.86 -11.61 252 1967.22 101.86 1.35 0.10 1.154 0.155 0.200 3015.25 3072.06 2958.44 1727.94 2118.44 0 0 0 12.03 16.04 15.71

1968 end apogee: CONTROL_FINISHED_OK

state 1968 begin climb

1968.42 10243 146.63 1.13 0.00 3014.0 3071.3 2956.8 1727.6 2118.2 167.15 0.00 263 2084.70 105.82 2.34 0.00 1.119 0.118 0.000 2416.31 2484.88 2347.75 2069.25 2118.12 0 0 0 11.87 15.72 30.00

2268.25 4741 146.63 1.03 -80.00 2412.0 2484.2 2339.7 2069.8 2118.1 142.65 12.55 299 2275.77 0.00 0.26 3.62 0.000 0.163 0.128 2412.75 2485.88 2339.62 2037.50 684.31 0 0 0 30.00 15.72 15.71

2354.35 17542 146.63 0.92 0.00 2408.8 2482.2 2335.4 2037.6 684.1 132.24 12.15 316 2360.48 0.00 0.00 3.44 0.000 0.000 0.060 2408.78 2481.81 2335.75 2038.06 2169.56 0 0 0 30.00 30.00 15.81

2541.27 16902 146.63 0.92 -80.00 2408.9 2482.2 2335.6 2038.4 2170.1 112.56 10.17 336 2548.70 0.00 0.00 3.73 0.000 0.000 0.126 2410.25 2483.94 2336.56 2038.56 681.94 0 0 0 30.00 30.00 15.84

2587.26 21639 146.63 0.81 0.00 2408.2 2482.4 2334.1 2037.8 682.1 107.17 12.24 345 2594.74 0.00 0.37 3.43 0.000 0.159 0.059 2408.16 2481.62 2334.69 1980.25 2170.44 0 0 0 30.00 15.85 15.90

2782.34 10919 202.29 0.97 -80.00 2408.0 2482.1 2333.9 1983.4 2170.5 92.04 7.20 365 2836.34 41.33 0.35 3.74 1.039 0.073 0.126 2188.69 2267.00 2110.38 2040.38 684.50 0 0 0 11.96 15.97 15.79

2864.91 5253 202.29 0.91 0.00 2185.5 2264.2 2106.9 2040.8 684.3 83.22 12.31 381 2872.31 0.00 0.25 3.43 0.000 0.161 0.059 2183.91 2262.75 2105.06 2009.50 2170.00 0 0 0 30.00 15.81 15.85

3071.70 10919 220.02 1.02 -80.00 2183.1 2264.0 2102.2 2009.2 2170.4 65.22 8.90 401 3097.15 14.49 0.24 3.70 0.927 0.081 0.127 2117.22 2199.06 2035.38 2050.25 682.94 0 0 0 11.92 15.90 15.82

3150.72 5253 220.02 0.95 0.00 2114.0 2195.6 2032.4 2049.8 683.0 54.43 13.53 417 3158.12 0.00 0.26 3.41 0.000 0.158 0.059 2114.91 2195.94 2033.88 2016.94 2170.25 0 0 0 30.00 15.84 15.88

3340.78 2725 221.15 1.04 -80.00 2113.1 2195.9 2030.3 2016.7 2170.2 35.54 9.65 451 3348.01 0.00 0.23 3.71 0.000 0.080 0.126 2111.88 2195.12 2028.62 2057.31 681.94 0 0 0 30.00 15.92 15.89

3391.57 5253 221.15 0.97 0.00 2112.8 2195.8 2029.9 2056.7 681.7 28.97 13.68 461 3398.66 0.00 0.27 3.41 0.000 0.152 0.059 2112.44 2195.50 2029.38 2021.81 2170.50 0 0 0 30.00 15.90 15.92

3582.71 10919 248.65 1.14 -80.00 2111.5 2195.8 2027.3 2022.2 2170.5 11.58 8.46 499 3614.62 22.30 0.33 3.72 0.936 0.075 0.126 1999.31 2086.62 1912.00 2077.00 682.69 0 0 0 11.98 15.99 15.86

3623.24 9382 264.35 1.21 0.00 1997.8 2084.9 1910.7 2076.4 683.3 7.97 8.99 506 3645.89 13.40 0.00 3.41 0.858 0.000 0.058 1938.19 2028.00 1848.38 2076.75 2170.88 0 0 0 11.98 30.00 15.92

3827.52 10919 465.20 1.71 -80.00 1932.2 2025.8 1838.6 2076.8 2170.8 2.86 0.68 547 3886.02 53.89 0.85 0.00 0.950 0.077 0.000 1628.72 1714.38 1543.06 2212.44 2171.00 0 0 0 12.05 15.93 30.00

3886 end climb: NO_VERTICAL_VELOCITY

state 3887 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	15	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	3016.9912	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	1794.9902	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	18.002335	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.502938	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.9956779	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	250522,170431,4736.702,-12256.652,20,0.9,21,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,170738,4736.745,-12256.603,3,0.7,5,15.5	MHEAD_RNG_PITCHd_Wd	187.3,1466,-17.1,-9.697,-20.82,2278,0.121
SPEED_LIMITS	0.168,0.255	D_GRID	168
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	1653502031,15.0,0,stop	FG_AHR_24Vo	8.154
NET	xm1t part outbox0005.n 955 10	FG_AHR_10Vo	15.532
NET_PING	1653501499,25,1557.979492,15.600000,-2.065601	MEM0	60132,1,0,0
FREEZE	3.74,13.364,-1.455,0,1,0	MEM1	65508,1,0,0
SM_CCo	4088.22,189.92,0.927,0,501.4,524.6,478.2,616.82	MEM2	944456,35,102172,62
SM_GC	1.67,0.00,13.09,0.09,0.000,0.067,0.156,498.6,522.2,475.1,193.5,2124.4,0,0,0,30.00,15.56,15.56	DATA_FILE_SIZE	16153,558
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	386169,0
IRIDIUM_FIX	4736.47,-12303.31,250522,155624	SDSIZE	3887104,3867552
TCM_TEMP	17.59	SDFILEDIR	155,1
SC_FREEKB	3873984	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	CURRENT	0.014,350.1,1
HUMID	49.26	MAGCAL	1.000000,0.005889,-0.021359,-0.006178,1.073340,-0.023058,0.019216,-0.081928,0.953275,44.8,-926.5,-409.8,36,0.0297,0
TEMP	10.21	IMPLIED_C_PITCH	1796,17.65,295,1795.5,17.83
INTERNAL_PRESSURE	7.98086	IMPLIED_C_VBD	2959,26.534931,295,2987.9
_24V_AH	15.03,9.361	GPS	250522,181833,4736.353,-12256.955,1,1.3,3,15.5
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	642	1153	11141.34	nil	0	0	0.00
Pitch_motor	32	254	126.14	nil	0	0	0.00
Roll_motor	71	200	215.52	nil	0	0	0.00
Iridium	118	212	378.37	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	2472	5	189.87	SciCon	3895	6	380.81
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1691	0	8.12
Compass	1138	5	85.38
RAFOS	1077	40	646.39
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
6.71	16386	-146.63	-1.13	0.00	525.4	541.4	509.4	185.2	2164.6	0.00	0.00	0	74.08	64.08	0.00	0.00	0.005	0.000	0.000	2359.81	2406.69	2312.94	185.06	2165.12	0	0	0	15.30	30.00	30.00
74.38	18727	-146.63	-1.13	80.00	2358.3	2405.2	2311.4	185.1	2164.8	3.12	-2.41	11	133.39	35.25	10.57	3.59	0.005	0.255	0.124	3613.50	3672.44	3554.56	1519.56	3616.38	0	0	0	15.81	15.66	15.75
136.86	3205	-146.63	-0.78	0.00	3613.5	3670.7	3556.4	1519.6	3616.2	8.08	-10.17	23	143.95	0.00	0.62	3.47	0.000	0.201	0.052	3614.12	3671.50	3556.75	1605.94	2119.94	0	0	0	30.00	15.72	15.80
327.45	420	-146.63	-0.82	80.00	3615.1	3673.6	3556.6	1605.7	2120.3	24.03	-7.75	61	334.25	0.00	0.00	3.70	0.000	0.000	0.122	3615.50	3673.69	3557.31	1605.75	3615.62	0	0	0	30.00	30.00	15.85
392.76	1188	-146.63	-0.86	0.00	3615.0	3673.2	3556.8	1605.9	3615.5	29.86	-9.02	74	399.40	0.00	0.00	3.48	0.000	0.000	0.054	3615.72	3673.50	3557.94	1605.81	2119.94	0	0	0	30.00	30.00	15.91
583.00	4257	-146.63	-0.94	0.00	3615.1	3673.4	3556.8	1606.0	2120.3	44.01	-7.44	112	587.90	0.00	0.34	0.00	0.000	0.070	0.000	3617.62	3676.62	3558.62	1547.81	2119.94	0	0	0	30.00	15.96	30.00
771.01	292	-146.63	-0.94	80.00	3615.7	3674.1	3557.4	1547.2	2119.8	61.48	-9.58	137	778.33	0.00	0.00	3.67	0.000	0.000	0.123	3615.19	3673.62	3556.75	1547.38	3616.88	0	0	0	30.00	30.00	15.96
791.16	3205	-146.63	-0.88	0.00	3615.5	3673.6	3557.4	1547.9	3616.6	63.72	-9.99	141	798.99	0.00	0.28	3.46	0.000	0.173	0.053	3615.38	3673.69	3557.06	1582.38	2122.81	0	0	0	30.00	15.96	16.00
986.98	160	-146.63	-0.93	0.00	3615.5	3673.8	3557.2	1581.9	2122.8	80.27	-8.34	161	988.60	0.00	0.00	0.00	0.000	0.000	0.000	3614.31	3672.94	3555.69	1582.44	2122.69	0	0	0	30.00	30.00	30.00
1177.01	4257	-146.63	-0.98	0.00	3615.1	3673.4	3556.7	1582.1	2123.1	96.07	-8.31	180	1178.88	0.00	0.24	0.00	0.000	0.081	0.000	3615.44	3674.19	3556.69	1540.50	2123.38	0	0	0	30.00	16.06	30.00
1361.64	388	-146.63	-0.95	80.00	3615.1	3672.4	3557.7	1540.3	2122.7	114.09	-9.80	198	1368.92	0.00	0.00	3.64	0.000	0.000	0.123	3614.47	3672.94	3556.00	1539.94	3613.44	0	0	0	30.00	30.00	16.02
1407.49	3205	-146.63	-0.85	0.00	3615.4	3673.5	3557.2	1540.2	3614.0	119.27	-11.55	207	1414.95	0.00	0.40	3.45	0.000	0.170	0.055	3616.34	3674.56	3558.12	1589.44	2121.56	0	0	0	30.00	15.99	16.05
1602.58	160	-146.63	-0.92	0.00	3615.8	3673.8	3557.8	1589.3	2121.4	136.03	-8.80	227	1604.18	0.00	0.00	0.00	0.000	0.000	0.000	3614.91	3673.31	3556.50	1589.56	2121.00	0	0	0	30.00	30.00	30.00
1797.85	4225	-146.63	-0.98	0.00	3615.8	3673.6	3558.0	1589.7	2120.8	154.01	-10.59	246	1803.66	0.00	0.28	0.00	0.000	0.074	0.000	3615.72	3673.81	3557.62	1540.56	2121.75	0	0	0	30.00	16.07	30.00
1853	end dive: TARGET_DEPTH_EXCEEDED
state	1853	begin apogee
1854.13	10243	0.00	-0.28	0.00	3616.0	3673.8	3558.1	1540.3	2179.1	160.86	-11.61	252	1967.22	101.86	1.35	0.10	1.154	0.155	0.200	3015.25	3072.06	2958.44	1727.94	2118.44	0	0	0	12.03	16.04	15.71
1968	end apogee: CONTROL_FINISHED_OK
state	1968	begin climb
1968.42	10243	146.63	1.13	0.00	3014.0	3071.3	2956.8	1727.6	2118.2	167.15	0.00	263	2084.70	105.82	2.34	0.00	1.119	0.118	0.000	2416.31	2484.88	2347.75	2069.25	2118.12	0	0	0	11.87	15.72	30.00
2268.25	4741	146.63	1.03	-80.00	2412.0	2484.2	2339.7	2069.8	2118.1	142.65	12.55	299	2275.77	0.00	0.26	3.62	0.000	0.163	0.128	2412.75	2485.88	2339.62	2037.50	684.31	0	0	0	30.00	15.72	15.71
2354.35	17542	146.63	0.92	0.00	2408.8	2482.2	2335.4	2037.6	684.1	132.24	12.15	316	2360.48	0.00	0.00	3.44	0.000	0.000	0.060	2408.78	2481.81	2335.75	2038.06	2169.56	0	0	0	30.00	30.00	15.81
2541.27	16902	146.63	0.92	-80.00	2408.9	2482.2	2335.6	2038.4	2170.1	112.56	10.17	336	2548.70	0.00	0.00	3.73	0.000	0.000	0.126	2410.25	2483.94	2336.56	2038.56	681.94	0	0	0	30.00	30.00	15.84
2587.26	21639	146.63	0.81	0.00	2408.2	2482.4	2334.1	2037.8	682.1	107.17	12.24	345	2594.74	0.00	0.37	3.43	0.000	0.159	0.059	2408.16	2481.62	2334.69	1980.25	2170.44	0	0	0	30.00	15.85	15.90
2782.34	10919	202.29	0.97	-80.00	2408.0	2482.1	2333.9	1983.4	2170.5	92.04	7.20	365	2836.34	41.33	0.35	3.74	1.039	0.073	0.126	2188.69	2267.00	2110.38	2040.38	684.50	0	0	0	11.96	15.97	15.79
2864.91	5253	202.29	0.91	0.00	2185.5	2264.2	2106.9	2040.8	684.3	83.22	12.31	381	2872.31	0.00	0.25	3.43	0.000	0.161	0.059	2183.91	2262.75	2105.06	2009.50	2170.00	0	0	0	30.00	15.81	15.85
3071.70	10919	220.02	1.02	-80.00	2183.1	2264.0	2102.2	2009.2	2170.4	65.22	8.90	401	3097.15	14.49	0.24	3.70	0.927	0.081	0.127	2117.22	2199.06	2035.38	2050.25	682.94	0	0	0	11.92	15.90	15.82
3150.72	5253	220.02	0.95	0.00	2114.0	2195.6	2032.4	2049.8	683.0	54.43	13.53	417	3158.12	0.00	0.26	3.41	0.000	0.158	0.059	2114.91	2195.94	2033.88	2016.94	2170.25	0	0	0	30.00	15.84	15.88
3340.78	2725	221.15	1.04	-80.00	2113.1	2195.9	2030.3	2016.7	2170.2	35.54	9.65	451	3348.01	0.00	0.23	3.71	0.000	0.080	0.126	2111.88	2195.12	2028.62	2057.31	681.94	0	0	0	30.00	15.92	15.89
3391.57	5253	221.15	0.97	0.00	2112.8	2195.8	2029.9	2056.7	681.7	28.97	13.68	461	3398.66	0.00	0.27	3.41	0.000	0.152	0.059	2112.44	2195.50	2029.38	2021.81	2170.50	0	0	0	30.00	15.90	15.92
3582.71	10919	248.65	1.14	-80.00	2111.5	2195.8	2027.3	2022.2	2170.5	11.58	8.46	499	3614.62	22.30	0.33	3.72	0.936	0.075	0.126	1999.31	2086.62	1912.00	2077.00	682.69	0	0	0	11.98	15.99	15.86
3623.24	9382	264.35	1.21	0.00	1997.8	2084.9	1910.7	2076.4	683.3	7.97	8.99	506	3645.89	13.40	0.00	3.41	0.858	0.000	0.058	1938.19	2028.00	1848.38	2076.75	2170.88	0	0	0	11.98	30.00	15.92
3827.52	10919	465.20	1.71	-80.00	1932.2	2025.8	1838.6	2076.8	2170.8	2.86	0.68	547	3886.02	53.89	0.85	0.00	0.950	0.077	0.000	1628.72	1714.38	1543.06	2212.44	2171.00	0	0	0	12.05	15.93	30.00
3886	end climb: NO_VERTICAL_VELOCITY
state	3887	begin surface