Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 20 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 6 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 7 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 175 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 55 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 85 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2030 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 159.11096 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.873871 FG_AHR_24V 205.43233 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.7531 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72383 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 0 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 160 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 159.11096 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 205.43233 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.873871 SM_CC 590.98499

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.5 PM_PROFILE 3.0 T_DIVE 55

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2030 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 85

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 1

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 2950 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72383 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.023 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 20 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 6 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 175 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 0 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 0 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 250522,064145,4736.103,-12256.972,1,1.1,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,064604,4736.129,-12256.966,2,1.1,5,15.5 MHEAD_RNG_PITCHd_Wd 8.2,1760,-17.1,-9.697,-20.82,2278,0.135

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME N IRON 1.000000,-0.027890,-0.002849,-0.078325,1.115509,-0.015352,0.031133,-0.052401,1.102101,-982.333374,-1085.457031,-27.933456

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

FREEZE 3.16,13.543,-1.441,0,1,0 FG_AHR_24Vo 205.627

SM_CCo 4199.46,231.74,1.104,0,500.8,578.4,423.2,600.79 FG_AHR_10Vo 159.146

SM_GC 1.35,0.00,13.98,0.30,0.000,0.056,0.095,497.0,571.4,422.6,209.4,2772.6,0,0,0,30.00,15.46,15.45 MEM0 60132,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4735.53,-12254.47,250522,052534 MEM2 942932,23,103596,79

TCM_TEMP 13.53 DATA_FILE_SIZE 16160,601

SC_FREEKB 3876768 CAP_FILE_SIZE 404822,0

PM_FREEKB_00 61794112 SDSIZE 3918848,3881088

PM_ACTIVECARD 0 SDFILEDIR 310,3

RAFOS_CLK -10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

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

HUMID 48.79 MAGCAL 1.000000,-0.020484,0.020678,-0.070769,1.109790,-0.005205,0.024548,-0.024885,1.095297,-1006.5,-1096.4,-34.2,36,0.0292,1

TEMP 10.97 IMPLIED_C_PITCH 2011,15.82,287,2020.6,15.84

INTERNAL_PRESSURE 7.94341 IMPLIED_C_VBD 3141,28.897648,287,3045.6

_24V_AH 14.97,111.365 GPS 250522,075931,4736.410,-12256.755,1,0.8,24,15.5

_10V_AH 14.93,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 662 1341 13303.88 nil 0 0 0.00

Pitch_motor 30 258 117.21 nil 0 0 0.00

Roll_motor 68 235 240.38 nil 0 0 0.00

Iridium 166 209 519.44 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 2531 5 193.55 SciCon 3964 6 382.73

Fast 0 0 0.00 PMAR 3970 17 1049.41

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1777 0 8.49

Compass 1217 5 90.86

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

10.95 16386 -146.63 -1.26 0.00 495.4 561.8 429.1 214.1 2724.9 0.00 0.00 0 100.35 85.89 0.00 0.00 0.005 0.000 0.000 2528.94 2528.19 2529.69 214.12 2724.44 0 0 0 15.80 30.00 30.00

100.60 18727 -146.63 -1.26 80.00 2527.6 2527.6 2527.6 214.2 2724.2 3.10 -2.04 17 156.25 30.53 11.70 2.93 0.005 0.259 0.120 3545.91 3572.69 3519.12 1725.19 3910.25 0 0 0 15.82 15.68 15.75

164.60 1060 -146.63 -1.26 0.00 3546.4 3572.7 3520.1 1724.6 3910.3 6.89 -5.92 29 170.80 0.00 0.00 2.70 0.000 0.000 0.063 3547.91 3574.88 3520.94 1725.00 2722.94 0 0 0 30.00 30.00 15.79

352.60 292 -146.63 -1.26 80.00 3548.6 3576.9 3520.2 1725.4 2722.1 17.91 -5.68 67 358.90 0.00 0.00 3.00 0.000 0.000 0.118 3549.47 3576.94 3522.00 1725.06 3910.88 0 0 0 30.00 30.00 15.82

586.68 1060 -146.63 -1.26 0.00 3549.3 3577.2 3521.4 1725.4 3910.6 30.70 -5.49 113 593.02 0.00 0.00 2.71 0.000 0.000 0.064 3550.81 3578.75 3522.88 1725.06 2723.94 0 0 0 30.00 30.00 15.90

776.74 292 -146.63 -1.26 80.00 3550.1 3578.9 3521.2 1725.1 2723.4 41.28 -5.91 151 783.19 0.00 0.00 2.97 0.000 0.000 0.118 3549.66 3578.69 3520.62 1725.25 3910.25 0 0 0 30.00 30.00 15.89

1009.70 1060 -146.63 -1.26 0.00 3549.3 3578.3 3520.4 1725.1 3911.8 57.20 -7.55 197 1015.30 0.00 0.00 2.73 0.000 0.000 0.066 3551.25 3579.94 3522.56 1725.12 2724.88 0 0 0 30.00 30.00 15.96

1199.72 292 -146.63 -1.26 80.00 3550.5 3580.0 3521.1 1724.9 2723.9 70.55 -6.67 217 1205.43 0.00 0.00 2.97 0.000 0.000 0.120 3550.62 3579.75 3521.50 1724.94 3910.81 0 0 0 30.00 30.00 15.94

1279.71 1028 -146.63 -1.26 0.00 3549.9 3578.9 3520.8 1724.6 3911.8 76.81 -8.05 233 1285.35 0.00 0.00 2.72 0.000 0.000 0.067 3551.44 3580.81 3522.06 1724.94 2725.12 0 0 0 30.00 30.00 15.98

1469.74 0 -146.63 -1.26 0.00 3551.3 3581.1 3521.6 1725.1 2725.1 91.36 -7.91 253 1471.30 0.00 0.00 0.00 0.000 0.000 0.000 3549.34 3577.88 3520.81 1724.88 2725.12 0 0 0 30.00 30.00 30.00

1659.76 260 -146.63 -1.26 80.00 3551.4 3580.1 3522.8 1725.4 2725.9 106.59 -8.05 272 1665.55 0.00 0.00 2.98 0.000 0.000 0.123 3549.25 3578.94 3519.56 1725.38 3910.19 0 0 0 30.00 30.00 15.97

1689.77 1028 -146.63 -1.26 0.00 3550.0 3579.2 3520.8 1725.4 3911.0 109.27 -8.39 278 1695.42 0.00 0.00 2.72 0.000 0.000 0.068 3550.84 3580.25 3521.44 1724.88 2725.00 0 0 0 30.00 30.00 16.01

1879.79 0 -146.63 -1.26 0.00 3550.6 3579.8 3521.4 1725.4 2726.5 125.45 -8.64 298 1881.35 0.00 0.00 0.00 0.000 0.000 0.000 3549.56 3578.38 3520.75 1724.88 2725.88 0 0 0 30.00 30.00 30.00

2069.82 260 -146.63 -1.26 80.00 3549.5 3578.7 3520.4 1725.1 2725.9 141.71 -8.76 317 2075.58 0.00 0.00 2.98 0.000 0.000 0.126 3550.38 3579.50 3521.25 1725.06 3909.31 0 0 0 30.00 30.00 15.99

2144.13 1028 -146.63 -1.26 0.00 3549.8 3579.8 3519.8 1725.1 3909.4 148.86 -9.58 332 2151.35 0.00 0.00 2.71 0.000 0.000 0.070 3551.00 3580.06 3521.94 1724.75 2725.06 0 0 0 30.00 30.00 16.02

2280 end dive: TARGET_DEPTH_EXCEEDED

state 2280 begin apogee

2281.42 10243 0.00 -0.31 0.00 3550.1 3579.1 3521.2 1725.2 2573.2 160.44 -8.61 346 2396.92 106.00 1.53 0.08 1.342 0.141 0.236 2948.03 3016.62 2879.44 1956.06 2624.00 0 0 0 12.23 15.98 15.55

2400 end apogee: CONTROL_FINISHED_OK

state 2400 begin climb

2400.55 10759 146.63 1.26 -80.00 2947.0 3013.3 2880.7 1955.8 2624.1 162.49 0.00 357 2527.51 110.57 2.54 3.66 1.282 0.091 0.134 2351.81 2434.50 2269.12 2337.75 1190.12 0 0 0 12.03 15.58 15.32

2530.34 1028 146.63 1.26 0.00 2348.3 2430.4 2266.2 2339.1 1190.7 149.11 13.89 374 2537.84 0.00 0.00 3.39 0.000 0.000 0.060 2349.38 2431.44 2267.31 2339.88 2621.31 0 0 0 30.00 30.00 15.40

2720.01 16646 146.63 1.26 80.00 2343.4 2422.8 2264.1 2339.4 2622.0 119.94 15.12 394 2726.13 0.00 0.00 3.31 0.000 0.000 0.127 2340.31 2420.12 2260.50 2339.50 3908.38 0 0 0 30.00 30.00 15.63

2760.02 17414 146.63 1.26 0.00 2342.5 2421.2 2263.9 2339.6 3909.1 113.68 15.55 402 2766.03 0.00 0.00 3.11 0.000 0.000 0.069 2341.78 2420.19 2263.38 2340.50 2577.06 0 0 0 30.00 30.00 15.69

2950.04 16386 146.63 1.26 0.00 2341.6 2419.9 2263.2 2338.6 2576.6 85.79 14.46 422 2951.64 0.00 0.00 0.00 0.000 0.000 0.000 2338.09 2416.56 2259.62 2339.81 2576.75 0 0 0 30.00 30.00 30.00

3140.07 16646 146.63 1.26 80.00 2340.5 2418.5 2262.4 2338.9 2575.9 58.38 14.23 441 3146.19 0.00 0.00 3.34 0.000 0.000 0.120 2339.78 2418.50 2261.06 2339.62 3910.75 0 0 0 30.00 30.00 15.81

3205.09 17414 146.63 1.26 0.00 2341.2 2418.5 2264.0 2339.6 3910.4 48.84 14.64 454 3211.77 0.00 0.00 3.09 0.000 0.000 0.069 2340.34 2416.69 2264.00 2339.62 2577.62 0 0 0 30.00 30.00 15.86

3393.68 16646 146.63 1.26 80.00 2340.5 2418.5 2262.6 2339.1 2578.0 22.93 13.49 491 3400.53 0.00 0.00 3.34 0.000 0.000 0.120 2338.34 2415.69 2261.00 2340.25 3911.00 0 0 0 30.00 30.00 15.85

3414.00 17414 146.63 1.26 0.00 2339.8 2417.1 2262.6 2339.5 3909.6 20.18 13.55 495 3420.68 0.00 0.00 3.08 0.000 0.000 0.068 2341.19 2417.25 2265.12 2339.56 2577.19 0 0 0 30.00 30.00 15.89

3604.26 10791 264.70 1.40 -80.00 2339.4 2417.0 2261.9 2340.2 2578.6 4.26 4.39 533 3705.19 86.96 0.17 3.47 1.140 0.096 0.134 1866.50 1957.31 1775.69 2379.31 1189.62 0 0 0 12.22 15.92 15.57

3933.87 11303 475.88 1.66 0.00 1860.1 1944.2 1776.1 2379.4 1189.8 3.14 0.21 598 3951.67 10.74 0.32 3.37 0.962 0.077 0.057 1819.59 1905.25 1733.94 2443.69 2628.69 0 0 0 12.09 15.77 15.78

3952 end climb: NO_VERTICAL_VELOCITY

state 3952 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	20	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	6	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	7	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	175	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	55	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	85	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2030	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	159.11096	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.873871	FG_AHR_24V	205.43233	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.7531	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72383	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	0	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	250522,064145,4736.103,-12256.972,1,1.1,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,064604,4736.129,-12256.966,2,1.1,5,15.5	MHEAD_RNG_PITCHd_Wd	8.2,1760,-17.1,-9.697,-20.82,2278,0.135
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	N	IRON	1.000000,-0.027890,-0.002849,-0.078325,1.115509,-0.015352,0.031133,-0.052401,1.102101,-982.333374,-1085.457031,-27.933456
TGT_LATLONG	4737.000,-12256.400

FREEZE	3.16,13.543,-1.441,0,1,0	FG_AHR_24Vo	205.627
SM_CCo	4199.46,231.74,1.104,0,500.8,578.4,423.2,600.79	FG_AHR_10Vo	159.146
SM_GC	1.35,0.00,13.98,0.30,0.000,0.056,0.095,497.0,571.4,422.6,209.4,2772.6,0,0,0,30.00,15.46,15.45	MEM0	60132,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4735.53,-12254.47,250522,052534	MEM2	942932,23,103596,79
TCM_TEMP	13.53	DATA_FILE_SIZE	16160,601
SC_FREEKB	3876768	CAP_FILE_SIZE	404822,0
PM_FREEKB_00	61794112	SDSIZE	3918848,3881088
PM_ACTIVECARD	0	SDFILEDIR	310,3
RAFOS_CLK	-10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	48.79	MAGCAL	1.000000,-0.020484,0.020678,-0.070769,1.109790,-0.005205,0.024548,-0.024885,1.095297,-1006.5,-1096.4,-34.2,36,0.0292,1
TEMP	10.97	IMPLIED_C_PITCH	2011,15.82,287,2020.6,15.84
INTERNAL_PRESSURE	7.94341	IMPLIED_C_VBD	3141,28.897648,287,3045.6
_24V_AH	14.97,111.365	GPS	250522,075931,4736.410,-12256.755,1,0.8,24,15.5
_10V_AH	14.93,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	662	1341	13303.88	nil	0	0	0.00
Pitch_motor	30	258	117.21	nil	0	0	0.00
Roll_motor	68	235	240.38	nil	0	0	0.00
Iridium	166	209	519.44	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	2531	5	193.55	SciCon	3964	6	382.73
Fast	0	0	0.00	PMAR	3970	17	1049.41
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1777	0	8.49
Compass	1217	5	90.86
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
10.95	16386	-146.63	-1.26	0.00	495.4	561.8	429.1	214.1	2724.9	0.00	0.00	0	100.35	85.89	0.00	0.00	0.005	0.000	0.000	2528.94	2528.19	2529.69	214.12	2724.44	0	0	0	15.80	30.00	30.00
100.60	18727	-146.63	-1.26	80.00	2527.6	2527.6	2527.6	214.2	2724.2	3.10	-2.04	17	156.25	30.53	11.70	2.93	0.005	0.259	0.120	3545.91	3572.69	3519.12	1725.19	3910.25	0	0	0	15.82	15.68	15.75
164.60	1060	-146.63	-1.26	0.00	3546.4	3572.7	3520.1	1724.6	3910.3	6.89	-5.92	29	170.80	0.00	0.00	2.70	0.000	0.000	0.063	3547.91	3574.88	3520.94	1725.00	2722.94	0	0	0	30.00	30.00	15.79
352.60	292	-146.63	-1.26	80.00	3548.6	3576.9	3520.2	1725.4	2722.1	17.91	-5.68	67	358.90	0.00	0.00	3.00	0.000	0.000	0.118	3549.47	3576.94	3522.00	1725.06	3910.88	0	0	0	30.00	30.00	15.82
586.68	1060	-146.63	-1.26	0.00	3549.3	3577.2	3521.4	1725.4	3910.6	30.70	-5.49	113	593.02	0.00	0.00	2.71	0.000	0.000	0.064	3550.81	3578.75	3522.88	1725.06	2723.94	0	0	0	30.00	30.00	15.90
776.74	292	-146.63	-1.26	80.00	3550.1	3578.9	3521.2	1725.1	2723.4	41.28	-5.91	151	783.19	0.00	0.00	2.97	0.000	0.000	0.118	3549.66	3578.69	3520.62	1725.25	3910.25	0	0	0	30.00	30.00	15.89
1009.70	1060	-146.63	-1.26	0.00	3549.3	3578.3	3520.4	1725.1	3911.8	57.20	-7.55	197	1015.30	0.00	0.00	2.73	0.000	0.000	0.066	3551.25	3579.94	3522.56	1725.12	2724.88	0	0	0	30.00	30.00	15.96
1199.72	292	-146.63	-1.26	80.00	3550.5	3580.0	3521.1	1724.9	2723.9	70.55	-6.67	217	1205.43	0.00	0.00	2.97	0.000	0.000	0.120	3550.62	3579.75	3521.50	1724.94	3910.81	0	0	0	30.00	30.00	15.94
1279.71	1028	-146.63	-1.26	0.00	3549.9	3578.9	3520.8	1724.6	3911.8	76.81	-8.05	233	1285.35	0.00	0.00	2.72	0.000	0.000	0.067	3551.44	3580.81	3522.06	1724.94	2725.12	0	0	0	30.00	30.00	15.98
1469.74	0	-146.63	-1.26	0.00	3551.3	3581.1	3521.6	1725.1	2725.1	91.36	-7.91	253	1471.30	0.00	0.00	0.00	0.000	0.000	0.000	3549.34	3577.88	3520.81	1724.88	2725.12	0	0	0	30.00	30.00	30.00
1659.76	260	-146.63	-1.26	80.00	3551.4	3580.1	3522.8	1725.4	2725.9	106.59	-8.05	272	1665.55	0.00	0.00	2.98	0.000	0.000	0.123	3549.25	3578.94	3519.56	1725.38	3910.19	0	0	0	30.00	30.00	15.97
1689.77	1028	-146.63	-1.26	0.00	3550.0	3579.2	3520.8	1725.4	3911.0	109.27	-8.39	278	1695.42	0.00	0.00	2.72	0.000	0.000	0.068	3550.84	3580.25	3521.44	1724.88	2725.00	0	0	0	30.00	30.00	16.01
1879.79	0	-146.63	-1.26	0.00	3550.6	3579.8	3521.4	1725.4	2726.5	125.45	-8.64	298	1881.35	0.00	0.00	0.00	0.000	0.000	0.000	3549.56	3578.38	3520.75	1724.88	2725.88	0	0	0	30.00	30.00	30.00
2069.82	260	-146.63	-1.26	80.00	3549.5	3578.7	3520.4	1725.1	2725.9	141.71	-8.76	317	2075.58	0.00	0.00	2.98	0.000	0.000	0.126	3550.38	3579.50	3521.25	1725.06	3909.31	0	0	0	30.00	30.00	15.99
2144.13	1028	-146.63	-1.26	0.00	3549.8	3579.8	3519.8	1725.1	3909.4	148.86	-9.58	332	2151.35	0.00	0.00	2.71	0.000	0.000	0.070	3551.00	3580.06	3521.94	1724.75	2725.06	0	0	0	30.00	30.00	16.02
2280	end dive: TARGET_DEPTH_EXCEEDED
state	2280	begin apogee
2281.42	10243	0.00	-0.31	0.00	3550.1	3579.1	3521.2	1725.2	2573.2	160.44	-8.61	346	2396.92	106.00	1.53	0.08	1.342	0.141	0.236	2948.03	3016.62	2879.44	1956.06	2624.00	0	0	0	12.23	15.98	15.55
2400	end apogee: CONTROL_FINISHED_OK
state	2400	begin climb
2400.55	10759	146.63	1.26	-80.00	2947.0	3013.3	2880.7	1955.8	2624.1	162.49	0.00	357	2527.51	110.57	2.54	3.66	1.282	0.091	0.134	2351.81	2434.50	2269.12	2337.75	1190.12	0	0	0	12.03	15.58	15.32
2530.34	1028	146.63	1.26	0.00	2348.3	2430.4	2266.2	2339.1	1190.7	149.11	13.89	374	2537.84	0.00	0.00	3.39	0.000	0.000	0.060	2349.38	2431.44	2267.31	2339.88	2621.31	0	0	0	30.00	30.00	15.40
2720.01	16646	146.63	1.26	80.00	2343.4	2422.8	2264.1	2339.4	2622.0	119.94	15.12	394	2726.13	0.00	0.00	3.31	0.000	0.000	0.127	2340.31	2420.12	2260.50	2339.50	3908.38	0	0	0	30.00	30.00	15.63
2760.02	17414	146.63	1.26	0.00	2342.5	2421.2	2263.9	2339.6	3909.1	113.68	15.55	402	2766.03	0.00	0.00	3.11	0.000	0.000	0.069	2341.78	2420.19	2263.38	2340.50	2577.06	0	0	0	30.00	30.00	15.69
2950.04	16386	146.63	1.26	0.00	2341.6	2419.9	2263.2	2338.6	2576.6	85.79	14.46	422	2951.64	0.00	0.00	0.00	0.000	0.000	0.000	2338.09	2416.56	2259.62	2339.81	2576.75	0	0	0	30.00	30.00	30.00
3140.07	16646	146.63	1.26	80.00	2340.5	2418.5	2262.4	2338.9	2575.9	58.38	14.23	441	3146.19	0.00	0.00	3.34	0.000	0.000	0.120	2339.78	2418.50	2261.06	2339.62	3910.75	0	0	0	30.00	30.00	15.81
3205.09	17414	146.63	1.26	0.00	2341.2	2418.5	2264.0	2339.6	3910.4	48.84	14.64	454	3211.77	0.00	0.00	3.09	0.000	0.000	0.069	2340.34	2416.69	2264.00	2339.62	2577.62	0	0	0	30.00	30.00	15.86
3393.68	16646	146.63	1.26	80.00	2340.5	2418.5	2262.6	2339.1	2578.0	22.93	13.49	491	3400.53	0.00	0.00	3.34	0.000	0.000	0.120	2338.34	2415.69	2261.00	2340.25	3911.00	0	0	0	30.00	30.00	15.85
3414.00	17414	146.63	1.26	0.00	2339.8	2417.1	2262.6	2339.5	3909.6	20.18	13.55	495	3420.68	0.00	0.00	3.08	0.000	0.000	0.068	2341.19	2417.25	2265.12	2339.56	2577.19	0	0	0	30.00	30.00	15.89
3604.26	10791	264.70	1.40	-80.00	2339.4	2417.0	2261.9	2340.2	2578.6	4.26	4.39	533	3705.19	86.96	0.17	3.47	1.140	0.096	0.134	1866.50	1957.31	1775.69	2379.31	1189.62	0	0	0	12.22	15.92	15.57
3933.87	11303	475.88	1.66	0.00	1860.1	1944.2	1776.1	2379.4	1189.8	3.14	0.21	598	3951.67	10.74	0.32	3.37	0.962	0.077	0.057	1819.59	1905.25	1733.94	2443.69	2628.69	0	0	0	12.09	15.77	15.78
3952	end climb: NO_VERTICAL_VELOCITY
state	3952	begin surface