Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 3 * 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 3 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 3053.9016 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 1791.4495 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 17.91954 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.241279 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 6.0406036 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 15.241279 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.0406036 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 17.91954 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 1791.4495 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 3053.9016 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 3 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 250522,032102,4737.021,-12256.009,2,0.8,29,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,032424,4737.053,-12255.947,2,0.7,4,15.5 MHEAD_RNG_PITCHd_Wd 206.2,2352,-17.1,-9.697,-20.82,2278,0.146

SPEED_LIMITS 0.168,0.255 D_GRID 165

TGT_NAME S IRON 1.000000,0.025809,-0.238035,-0.018281,1.101380,-0.072392,0.032041,-0.135449,1.054332,279.862793,-868.903442,-414.953674

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653453057,1.8,start FG_AHR_24Vo 6.196

NET xm1t part outbox0002.n 1019 14 FG_AHR_10Vo 15.267

NET_PING 1653452292,28,583.391968,4.600000,-0.765747 MEM0 60132,1,0,0

FINISH 1.8,1.019562 MEM1 65508,1,0,0

SM_CCo 3961.43,165.26,0.928,0,575.8,591.8,559.7,607.67 MEM2 944596,32,102112,61

SM_GC 1.55,165.26,12.88,0.09,0.928,0.079,0.156,575.8,591.8,559.7,188.9,2177.3,0,0,0,11.87,15.77,15.79 DATA_FILE_SIZE 12954,532

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 382259,0

IRIDIUM_FIX 4736.40,-12251.79,250522,020836 SDSIZE 3887104,3870976

TCM_TEMP 17.61 SDFILEDIR 71,1

SC_FREEKB 3877824 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 CURRENT 0.016,135.8,1

HUMID 49.58 MAGCAL 1.000000,0.021666,-0.211803,-0.014919,1.114345,-0.056710,0.035927,-0.122675,1.056392,244.3,-893.8,-431.2,25,0.0347,1

TEMP 9.85 IMPLIED_C_PITCH 1789,17.84,289,1790.5,17.88

INTERNAL_PRESSURE 7.97706 IMPLIED_C_VBD 3019,24.125227,289,3036.6

_24V_AH 14.90,7.236 GPS 250522,043130,4736.734,-12256.407,1,0.9,2,15.5

_10V_AH 14.88,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 630 1135 10670.55 nil 0 0 0.00

Pitch_motor 31 256 122.05 nil 0 0 0.00

Roll_motor 86 220 284.98 nil 0 0 0.00

Iridium 134 217 436.51 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2281 5 173.82 SciCon 3770 6 364.52

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1683 0 8.02

Compass 1079 5 80.28

RAFOS 874 40 520.53

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

6.83 16386 -146.63 -1.13 0.00 496.6 518.1 475.1 196.4 2169.1 0.00 0.00 0 76.42 66.22 0.00 0.00 0.005 0.000 0.000 2367.81 2407.00 2328.62 196.00 2168.75 0 0 0 15.88 30.00 30.00

76.72 18983 -146.63 -1.13 -80.00 2366.8 2405.2 2328.4 196.2 2168.6 3.01 -2.73 13 132.32 32.92 10.22 3.85 0.005 0.257 0.122 3649.47 3704.56 3594.38 1515.75 683.00 0 0 0 15.92 15.75 15.83

135.79 3205 -146.63 -0.76 0.00 3650.1 3704.4 3595.8 1515.1 682.8 9.87 -12.70 24 142.88 0.00 0.64 3.43 0.000 0.188 0.056 3651.72 3705.31 3598.12 1606.12 2171.31 0 0 0 30.00 15.81 15.89

325.25 420 -146.63 -0.86 80.00 3650.8 3704.7 3596.9 1607.4 2171.3 23.96 -6.45 59 331.97 0.00 0.00 3.61 0.000 0.000 0.128 3651.72 3705.62 3597.81 1607.75 3615.56 0 0 0 30.00 30.00 15.89

355.49 5285 -146.63 -0.95 0.00 3651.7 3705.6 3597.8 1607.4 3616.1 26.09 -6.80 65 362.44 0.00 0.38 3.51 0.000 0.072 0.052 3651.38 3705.38 3597.38 1547.88 2119.69 0 0 0 30.00 15.92 15.94

545.85 292 -146.63 -0.95 80.00 3651.2 3704.8 3597.7 1547.0 2119.9 42.47 -8.79 103 552.72 0.00 0.00 3.71 0.000 0.000 0.122 3651.31 3705.12 3597.50 1547.56 3615.88 0 0 0 30.00 30.00 15.93

611.20 3205 -146.63 -0.86 0.00 3651.6 3705.8 3597.4 1547.3 3614.9 48.84 -10.17 116 618.14 0.00 0.31 3.46 0.000 0.176 0.055 3652.91 3706.06 3599.75 1583.19 2118.81 0 0 0 30.00 15.93 15.97

806.55 420 -146.63 -0.92 80.00 3651.9 3706.4 3597.4 1584.8 2119.6 63.41 -7.30 137 813.74 0.00 0.00 3.70 0.000 0.000 0.123 3650.88 3704.81 3596.94 1584.56 3615.12 0 0 0 30.00 30.00 15.98

833.00 5285 -146.63 -0.97 0.00 3652.1 3705.9 3598.2 1584.2 3615.6 65.54 -7.61 142 839.41 0.00 0.25 3.47 0.000 0.082 0.054 3652.22 3706.69 3597.75 1543.44 2118.50 0 0 0 30.00 16.03 16.03

1026.19 32 -146.63 -0.97 0.00 3652.2 3705.7 3598.8 1542.6 2118.9 83.43 -9.29 162 1027.76 0.00 0.00 0.00 0.000 0.000 0.000 3651.12 3705.25 3597.00 1542.88 2118.62 0 0 0 30.00 30.00 30.00

1216.20 32 -146.63 -0.97 0.00 3652.1 3705.9 3598.3 1542.8 2118.4 101.10 -9.28 181 1217.77 0.00 0.00 0.00 0.000 0.000 0.000 3651.28 3704.81 3597.75 1542.88 2118.56 0 0 0 30.00 30.00 30.00

1406.33 292 -146.63 -0.97 80.00 3652.2 3705.6 3598.8 1542.8 2117.9 119.26 -9.67 200 1413.37 0.00 0.00 3.68 0.000 0.000 0.125 3651.50 3704.69 3598.31 1543.00 3615.25 0 0 0 30.00 30.00 16.05

1446.12 3205 -146.63 -0.88 0.00 3652.8 3706.0 3599.6 1542.6 3615.6 123.89 -11.60 208 1453.80 0.00 0.31 3.43 0.000 0.179 0.056 3652.88 3706.50 3599.25 1579.81 2122.69 0 0 0 30.00 16.04 16.10

1635.93 160 -146.63 -0.93 0.00 3652.3 3705.4 3599.1 1579.6 2121.9 140.55 -8.51 228 1637.51 0.00 0.00 0.00 0.000 0.000 0.000 3651.75 3704.62 3598.88 1579.31 2122.31 0 0 0 30.00 30.00 30.00

1825.93 4517 -146.63 -0.99 80.00 3652.4 3705.6 3599.3 1579.3 2122.0 156.25 -8.27 247 1833.18 0.00 0.25 3.66 0.000 0.084 0.125 3654.06 3705.25 3602.88 1534.62 3616.25 0 0 0 30.00 16.13 16.10

1862 end dive: TARGET_DEPTH_EXCEEDED

state 1862 begin apogee

1867.60 10243 0.00 -0.28 0.00 3652.5 3706.1 3599.0 1534.7 2122.9 160.31 -11.80 254 1977.66 102.00 1.35 0.09 1.136 0.161 0.220 3052.97 3109.62 2996.31 1724.19 2176.12 0 0 0 12.02 16.09 15.76

1979 end apogee: CONTROL_FINISHED_OK

state 1979 begin climb

1978.80 10243 146.63 1.13 0.00 3050.6 3107.9 2993.3 1724.2 2176.0 165.22 0.00 265 2095.96 105.71 2.33 0.00 1.102 0.120 0.000 2455.06 2521.62 2388.50 2067.19 2176.31 0 0 0 11.95 15.76 30.00

2279.40 4741 146.63 1.03 -80.00 2447.4 2520.2 2374.7 2066.5 2176.3 136.62 12.18 295 2286.81 0.00 0.29 3.87 0.000 0.166 0.127 2447.00 2520.00 2374.00 2030.81 684.25 0 0 0 30.00 15.72 15.71

2389.58 17542 146.63 0.89 0.00 2445.1 2517.9 2372.2 2031.5 684.3 122.51 12.89 317 2396.99 0.00 0.00 3.46 0.000 0.000 0.061 2445.84 2518.81 2372.88 2031.00 2170.62 0 0 0 30.00 30.00 15.81

2585.26 16902 146.63 0.89 -80.00 2444.7 2517.7 2371.7 2031.2 2171.3 102.57 9.93 337 2596.65 0.00 0.00 3.82 0.000 0.000 0.125 2445.50 2518.44 2372.56 2031.31 684.25 0 0 0 30.00 30.00 15.75

2640.18 21639 146.63 0.78 0.00 2443.8 2517.2 2370.4 2031.1 684.0 96.11 12.12 347 2646.77 0.00 0.41 3.45 0.000 0.155 0.060 2441.84 2515.69 2368.00 1971.75 2169.88 0 0 0 30.00 15.85 15.90

2836.32 10919 207.50 0.96 -80.00 2443.5 2517.3 2369.8 1971.8 2170.3 81.47 6.96 368 2890.72 44.49 0.39 3.87 1.013 0.072 0.127 2208.03 2286.56 2129.50 2035.12 684.31 0 0 0 11.91 15.98 15.79

2939.22 5253 207.50 0.89 0.00 2201.2 2280.7 2121.8 2034.9 684.6 70.19 13.08 388 2946.42 0.00 0.25 3.45 0.000 0.161 0.059 2201.69 2279.06 2124.31 2001.06 2170.00 0 0 0 30.00 15.84 15.87

3134.28 10919 231.65 1.02 -80.00 2199.1 2280.7 2117.4 2003.5 2170.2 52.54 8.61 408 3161.39 18.98 0.27 3.87 0.939 0.079 0.127 2107.12 2190.38 2023.88 2048.94 684.31 0 0 0 11.90 15.95 15.85

3207.70 5253 231.65 0.96 0.00 2103.4 2186.3 2020.5 2049.5 684.5 43.74 13.25 422 3214.59 0.00 0.25 3.45 0.000 0.159 0.060 2105.81 2188.50 2023.12 2016.38 2168.94 0 0 0 30.00 15.85 15.89

3396.08 10919 249.93 1.09 -80.00 2101.7 2186.5 2016.9 2016.4 2169.5 25.89 8.88 460 3418.96 14.84 0.28 3.84 0.895 0.078 0.126 2032.41 2118.88 1945.94 2063.94 684.25 0 0 0 11.94 15.96 15.88

3462.43 1156 249.93 1.04 0.00 2030.4 2117.1 1943.8 2063.8 684.0 17.75 13.34 473 3469.12 0.00 0.00 3.44 0.000 0.000 0.060 2030.97 2118.19 1943.75 2064.31 2169.12 0 0 0 30.00 30.00 15.94

3652.61 10663 356.69 1.33 80.00 2028.6 2117.1 1940.1 2063.9 2169.6 2.41 4.90 511 3738.46 74.78 0.31 3.63 0.944 0.092 0.127 1597.75 1687.62 1507.88 2118.38 3614.44 0 0 0 11.96 15.99 15.75

3746.99 11431 531.74 1.73 0.00 1595.8 1685.3 1506.4 2117.9 3614.9 2.06 1.83 529 3759.43 5.24 0.57 3.53 0.564 0.080 0.051 1583.44 1673.50 1493.38 2215.12 2117.56 0 0 0 11.80 15.79 15.80

3760 end climb: SURFACE_DEPTH_REACHED

state 3760 begin surface coast

3763 end surface coast: CONTROL_FINISHED_OK

state 3763 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	3	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	3053.9016	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	1791.4495	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	17.91954	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.241279	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	6.0406036	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	250522,032102,4737.021,-12256.009,2,0.8,29,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,032424,4737.053,-12255.947,2,0.7,4,15.5	MHEAD_RNG_PITCHd_Wd	206.2,2352,-17.1,-9.697,-20.82,2278,0.146
SPEED_LIMITS	0.168,0.255	D_GRID	165
TGT_NAME	S	IRON	1.000000,0.025809,-0.238035,-0.018281,1.101380,-0.072392,0.032041,-0.135449,1.054332,279.862793,-868.903442,-414.953674
TGT_LATLONG	4736.000,-12257.000

NAV	1653453057,1.8,start	FG_AHR_24Vo	6.196
NET	xm1t part outbox0002.n 1019 14	FG_AHR_10Vo	15.267
NET_PING	1653452292,28,583.391968,4.600000,-0.765747	MEM0	60132,1,0,0
FINISH	1.8,1.019562	MEM1	65508,1,0,0
SM_CCo	3961.43,165.26,0.928,0,575.8,591.8,559.7,607.67	MEM2	944596,32,102112,61
SM_GC	1.55,165.26,12.88,0.09,0.928,0.079,0.156,575.8,591.8,559.7,188.9,2177.3,0,0,0,11.87,15.77,15.79	DATA_FILE_SIZE	12954,532
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	382259,0
IRIDIUM_FIX	4736.40,-12251.79,250522,020836	SDSIZE	3887104,3870976
TCM_TEMP	17.61	SDFILEDIR	71,1
SC_FREEKB	3877824	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	CURRENT	0.016,135.8,1
HUMID	49.58	MAGCAL	1.000000,0.021666,-0.211803,-0.014919,1.114345,-0.056710,0.035927,-0.122675,1.056392,244.3,-893.8,-431.2,25,0.0347,1
TEMP	9.85	IMPLIED_C_PITCH	1789,17.84,289,1790.5,17.88
INTERNAL_PRESSURE	7.97706	IMPLIED_C_VBD	3019,24.125227,289,3036.6
_24V_AH	14.90,7.236	GPS	250522,043130,4736.734,-12256.407,1,0.9,2,15.5
_10V_AH	14.88,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	630	1135	10670.55	nil	0	0	0.00
Pitch_motor	31	256	122.05	nil	0	0	0.00
Roll_motor	86	220	284.98	nil	0	0	0.00
Iridium	134	217	436.51	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2281	5	173.82	SciCon	3770	6	364.52
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1683	0	8.02
Compass	1079	5	80.28
RAFOS	874	40	520.53
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
6.83	16386	-146.63	-1.13	0.00	496.6	518.1	475.1	196.4	2169.1	0.00	0.00	0	76.42	66.22	0.00	0.00	0.005	0.000	0.000	2367.81	2407.00	2328.62	196.00	2168.75	0	0	0	15.88	30.00	30.00
76.72	18983	-146.63	-1.13	-80.00	2366.8	2405.2	2328.4	196.2	2168.6	3.01	-2.73	13	132.32	32.92	10.22	3.85	0.005	0.257	0.122	3649.47	3704.56	3594.38	1515.75	683.00	0	0	0	15.92	15.75	15.83
135.79	3205	-146.63	-0.76	0.00	3650.1	3704.4	3595.8	1515.1	682.8	9.87	-12.70	24	142.88	0.00	0.64	3.43	0.000	0.188	0.056	3651.72	3705.31	3598.12	1606.12	2171.31	0	0	0	30.00	15.81	15.89
325.25	420	-146.63	-0.86	80.00	3650.8	3704.7	3596.9	1607.4	2171.3	23.96	-6.45	59	331.97	0.00	0.00	3.61	0.000	0.000	0.128	3651.72	3705.62	3597.81	1607.75	3615.56	0	0	0	30.00	30.00	15.89
355.49	5285	-146.63	-0.95	0.00	3651.7	3705.6	3597.8	1607.4	3616.1	26.09	-6.80	65	362.44	0.00	0.38	3.51	0.000	0.072	0.052	3651.38	3705.38	3597.38	1547.88	2119.69	0	0	0	30.00	15.92	15.94
545.85	292	-146.63	-0.95	80.00	3651.2	3704.8	3597.7	1547.0	2119.9	42.47	-8.79	103	552.72	0.00	0.00	3.71	0.000	0.000	0.122	3651.31	3705.12	3597.50	1547.56	3615.88	0	0	0	30.00	30.00	15.93
611.20	3205	-146.63	-0.86	0.00	3651.6	3705.8	3597.4	1547.3	3614.9	48.84	-10.17	116	618.14	0.00	0.31	3.46	0.000	0.176	0.055	3652.91	3706.06	3599.75	1583.19	2118.81	0	0	0	30.00	15.93	15.97
806.55	420	-146.63	-0.92	80.00	3651.9	3706.4	3597.4	1584.8	2119.6	63.41	-7.30	137	813.74	0.00	0.00	3.70	0.000	0.000	0.123	3650.88	3704.81	3596.94	1584.56	3615.12	0	0	0	30.00	30.00	15.98
833.00	5285	-146.63	-0.97	0.00	3652.1	3705.9	3598.2	1584.2	3615.6	65.54	-7.61	142	839.41	0.00	0.25	3.47	0.000	0.082	0.054	3652.22	3706.69	3597.75	1543.44	2118.50	0	0	0	30.00	16.03	16.03
1026.19	32	-146.63	-0.97	0.00	3652.2	3705.7	3598.8	1542.6	2118.9	83.43	-9.29	162	1027.76	0.00	0.00	0.00	0.000	0.000	0.000	3651.12	3705.25	3597.00	1542.88	2118.62	0	0	0	30.00	30.00	30.00
1216.20	32	-146.63	-0.97	0.00	3652.1	3705.9	3598.3	1542.8	2118.4	101.10	-9.28	181	1217.77	0.00	0.00	0.00	0.000	0.000	0.000	3651.28	3704.81	3597.75	1542.88	2118.56	0	0	0	30.00	30.00	30.00
1406.33	292	-146.63	-0.97	80.00	3652.2	3705.6	3598.8	1542.8	2117.9	119.26	-9.67	200	1413.37	0.00	0.00	3.68	0.000	0.000	0.125	3651.50	3704.69	3598.31	1543.00	3615.25	0	0	0	30.00	30.00	16.05
1446.12	3205	-146.63	-0.88	0.00	3652.8	3706.0	3599.6	1542.6	3615.6	123.89	-11.60	208	1453.80	0.00	0.31	3.43	0.000	0.179	0.056	3652.88	3706.50	3599.25	1579.81	2122.69	0	0	0	30.00	16.04	16.10
1635.93	160	-146.63	-0.93	0.00	3652.3	3705.4	3599.1	1579.6	2121.9	140.55	-8.51	228	1637.51	0.00	0.00	0.00	0.000	0.000	0.000	3651.75	3704.62	3598.88	1579.31	2122.31	0	0	0	30.00	30.00	30.00
1825.93	4517	-146.63	-0.99	80.00	3652.4	3705.6	3599.3	1579.3	2122.0	156.25	-8.27	247	1833.18	0.00	0.25	3.66	0.000	0.084	0.125	3654.06	3705.25	3602.88	1534.62	3616.25	0	0	0	30.00	16.13	16.10
1862	end dive: TARGET_DEPTH_EXCEEDED
state	1862	begin apogee
1867.60	10243	0.00	-0.28	0.00	3652.5	3706.1	3599.0	1534.7	2122.9	160.31	-11.80	254	1977.66	102.00	1.35	0.09	1.136	0.161	0.220	3052.97	3109.62	2996.31	1724.19	2176.12	0	0	0	12.02	16.09	15.76
1979	end apogee: CONTROL_FINISHED_OK
state	1979	begin climb
1978.80	10243	146.63	1.13	0.00	3050.6	3107.9	2993.3	1724.2	2176.0	165.22	0.00	265	2095.96	105.71	2.33	0.00	1.102	0.120	0.000	2455.06	2521.62	2388.50	2067.19	2176.31	0	0	0	11.95	15.76	30.00
2279.40	4741	146.63	1.03	-80.00	2447.4	2520.2	2374.7	2066.5	2176.3	136.62	12.18	295	2286.81	0.00	0.29	3.87	0.000	0.166	0.127	2447.00	2520.00	2374.00	2030.81	684.25	0	0	0	30.00	15.72	15.71
2389.58	17542	146.63	0.89	0.00	2445.1	2517.9	2372.2	2031.5	684.3	122.51	12.89	317	2396.99	0.00	0.00	3.46	0.000	0.000	0.061	2445.84	2518.81	2372.88	2031.00	2170.62	0	0	0	30.00	30.00	15.81
2585.26	16902	146.63	0.89	-80.00	2444.7	2517.7	2371.7	2031.2	2171.3	102.57	9.93	337	2596.65	0.00	0.00	3.82	0.000	0.000	0.125	2445.50	2518.44	2372.56	2031.31	684.25	0	0	0	30.00	30.00	15.75
2640.18	21639	146.63	0.78	0.00	2443.8	2517.2	2370.4	2031.1	684.0	96.11	12.12	347	2646.77	0.00	0.41	3.45	0.000	0.155	0.060	2441.84	2515.69	2368.00	1971.75	2169.88	0	0	0	30.00	15.85	15.90
2836.32	10919	207.50	0.96	-80.00	2443.5	2517.3	2369.8	1971.8	2170.3	81.47	6.96	368	2890.72	44.49	0.39	3.87	1.013	0.072	0.127	2208.03	2286.56	2129.50	2035.12	684.31	0	0	0	11.91	15.98	15.79
2939.22	5253	207.50	0.89	0.00	2201.2	2280.7	2121.8	2034.9	684.6	70.19	13.08	388	2946.42	0.00	0.25	3.45	0.000	0.161	0.059	2201.69	2279.06	2124.31	2001.06	2170.00	0	0	0	30.00	15.84	15.87
3134.28	10919	231.65	1.02	-80.00	2199.1	2280.7	2117.4	2003.5	2170.2	52.54	8.61	408	3161.39	18.98	0.27	3.87	0.939	0.079	0.127	2107.12	2190.38	2023.88	2048.94	684.31	0	0	0	11.90	15.95	15.85
3207.70	5253	231.65	0.96	0.00	2103.4	2186.3	2020.5	2049.5	684.5	43.74	13.25	422	3214.59	0.00	0.25	3.45	0.000	0.159	0.060	2105.81	2188.50	2023.12	2016.38	2168.94	0	0	0	30.00	15.85	15.89
3396.08	10919	249.93	1.09	-80.00	2101.7	2186.5	2016.9	2016.4	2169.5	25.89	8.88	460	3418.96	14.84	0.28	3.84	0.895	0.078	0.126	2032.41	2118.88	1945.94	2063.94	684.25	0	0	0	11.94	15.96	15.88
3462.43	1156	249.93	1.04	0.00	2030.4	2117.1	1943.8	2063.8	684.0	17.75	13.34	473	3469.12	0.00	0.00	3.44	0.000	0.000	0.060	2030.97	2118.19	1943.75	2064.31	2169.12	0	0	0	30.00	30.00	15.94
3652.61	10663	356.69	1.33	80.00	2028.6	2117.1	1940.1	2063.9	2169.6	2.41	4.90	511	3738.46	74.78	0.31	3.63	0.944	0.092	0.127	1597.75	1687.62	1507.88	2118.38	3614.44	0	0	0	11.96	15.99	15.75
3746.99	11431	531.74	1.73	0.00	1595.8	1685.3	1506.4	2117.9	3614.9	2.06	1.83	529	3759.43	5.24	0.57	3.53	0.564	0.080	0.051	1583.44	1673.50	1493.38	2215.12	2117.56	0	0	0	11.80	15.79	15.80
3760	end climb: SURFACE_DEPTH_REACHED
state	3760	begin surface coast
3763	end surface coast: CONTROL_FINISHED_OK
state	3763	begin surface