Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 7 * 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 7 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 159.14743 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.844656 FG_AHR_24V 205.63643 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 159.14743 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 205.63643 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.844656 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 7 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 250522,075931,4736.410,-12256.755,1,0.8,24,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,080339,4736.443,-12256.728,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 6.1,1109,-17.1,-9.697,-20.82,2278,0.132

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,-0.020484,0.020678,-0.070769,1.109790,-0.005205,0.024548,-0.024885,1.095297,-1006.469543,-1096.399780,-34.233189

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

FREEZE 0.76,14.053,-1.416,0,1,0 _10V_AH 14.79,0.000

FINISH 0.8,1.019252 FG_AHR_24Vo 205.830

SM_CCo 4242.59,200.16,1.123,0,541.8,609.3,474.3,590.73 FG_AHR_10Vo 159.184

SM_GC 1.40,200.16,13.61,3.67,1.123,0.079,0.059,541.8,609.3,474.3,212.9,2772.0,0,0,0,12.02,15.73,15.77 MEM0 60132,1,0,0

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

IRIDIUM_FIX 4736.00,-12258.89,250522,064332 MEM2 942852,25,103636,79

TCM_TEMP 13.81 DATA_FILE_SIZE 16155,598

SC_FREEKB 3876448 CAP_FILE_SIZE 399135,0

PM_FREEKB_00 61700096 SDSIZE 3918848,3880736

PM_ACTIVECARD 0 SDFILEDIR 319,3

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 48.42 MAGCAL 1.000000,-0.013160,0.041598,-0.073175,1.116266,0.011941,0.015757,-0.019937,1.106667,-1024.6,-1111.0,-46.6,36,0.0294,0

TEMP 10.64 IMPLIED_C_PITCH 2010,15.81,283,2019.9,15.83

INTERNAL_PRESSURE 7.94087 IMPLIED_C_VBD 3146,30.289389,283,3047.8

_24V_AH 14.80,111.586 GPS 250522,091539,4736.853,-12256.430,2,1.3,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1346 12888.85 nil 0 0 0.00

Pitch_motor 29 257 113.48 nil 0 0 0.00

Roll_motor 63 241 227.20 nil 0 0 0.00

Iridium 154 214 489.69 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 2513 5 190.33 SciCon 4009 6 381.25

Fast 0 0 0.00 PMAR 4014 17 1052.34

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1738 0 8.23

Compass 1217 5 90.01

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 0.00 495.3 561.4 429.3 209.2 2726.4 0.00 0.00 0 109.53 94.76 0.00 0.00 0.005 0.000 0.000 2738.12 2733.81 2742.44 209.12 2727.31 0 0 0 15.63 30.00 30.00

109.78 18983 -146.63 -1.26 -80.00 2738.2 2735.2 2741.1 209.2 2725.8 3.47 -2.15 18 156.62 23.12 11.81 3.46 0.006 0.258 0.121 3545.25 3570.62 3519.88 1725.19 1280.75 0 0 0 15.83 15.68 15.75

384.99 1060 -146.63 -1.26 0.00 3549.4 3577.3 3521.5 1724.8 1281.1 21.94 -6.42 72 391.49 0.00 0.00 3.47 0.000 0.000 0.061 3549.91 3577.12 3522.69 1724.94 2769.69 0 0 0 30.00 30.00 15.86

572.95 548 -146.63 -1.26 -80.00 3549.6 3577.9 3521.2 1724.8 2770.0 30.84 -4.62 109 579.52 0.00 0.00 3.57 0.000 0.000 0.115 3549.44 3578.12 3520.75 1724.44 1278.44 0 0 0 30.00 30.00 15.86

617.97 1060 -146.63 -1.26 0.00 3549.8 3578.5 3521.2 1725.4 1278.9 33.39 -5.36 118 624.64 0.00 0.00 3.49 0.000 0.000 0.061 3551.41 3579.94 3522.88 1724.81 2769.25 0 0 0 30.00 30.00 15.90

808.10 32 -146.63 -1.26 0.00 3550.2 3578.7 3521.8 1725.2 2770.1 43.98 -5.73 156 812.64 0.00 0.00 0.00 0.000 0.000 0.000 3550.16 3579.12 3521.19 1725.25 2770.25 0 0 0 30.00 30.00 30.00

995.14 292 -146.63 -1.26 80.00 3549.7 3578.2 3521.2 1725.4 2769.9 55.96 -6.61 185 1000.80 0.00 0.00 2.86 0.000 0.000 0.121 3550.41 3578.06 3522.75 1725.69 3910.31 0 0 0 30.00 30.00 15.92

1059.40 1028 -146.63 -1.26 0.00 3549.6 3577.6 3521.5 1724.8 3910.4 60.88 -7.70 198 1066.50 0.00 0.00 2.71 0.000 0.000 0.064 3550.94 3578.81 3523.06 1724.75 2724.06 0 0 0 30.00 30.00 15.96

1255.19 32 -146.63 -1.26 0.00 3550.0 3578.8 3521.2 1724.9 2725.4 75.03 -7.52 218 1256.75 0.00 0.00 0.00 0.000 0.000 0.000 3549.25 3578.94 3519.56 1724.56 2724.62 0 0 0 30.00 30.00 30.00

1445.17 260 -146.63 -1.26 80.00 3550.4 3579.1 3521.7 1724.6 2724.8 89.99 -8.28 237 1450.89 0.00 0.00 2.89 0.000 0.000 0.120 3552.66 3581.19 3524.12 1725.62 3910.56 0 0 0 30.00 30.00 15.95

1479.46 1028 -146.63 -1.26 0.00 3550.1 3578.8 3521.5 1725.7 3909.4 93.13 -8.71 244 1486.57 0.00 0.00 2.71 0.000 0.000 0.066 3527.12 3532.12 3522.12 1724.81 2724.25 0 0 0 30.00 30.00 15.99

1675.21 0 -146.63 -1.26 0.00 3550.3 3579.1 3521.6 1725.6 2724.6 109.18 -8.37 264 1676.77 0.00 0.00 0.00 0.000 0.000 0.000 3549.38 3577.75 3521.00 1725.62 2725.19 0 0 0 30.00 30.00 30.00

1865.29 260 -146.63 -1.26 80.00 3550.3 3579.6 3521.0 1725.6 2724.4 125.67 -8.69 283 1871.21 0.00 0.00 2.96 0.000 0.000 0.122 3549.91 3578.62 3521.19 1724.88 3911.56 0 0 0 30.00 30.00 15.98

1939.59 1028 -146.63 -1.26 0.00 3551.1 3580.5 3521.7 1725.4 3912.5 132.81 -9.63 298 1946.84 0.00 0.00 2.72 0.000 0.000 0.068 3550.47 3579.62 3521.31 1725.12 2724.62 0 0 0 30.00 30.00 16.01

2135.35 260 -146.63 -1.26 80.00 3550.2 3579.4 3521.0 1725.1 2725.2 148.94 -7.72 318 2141.25 0.00 0.00 2.97 0.000 0.000 0.122 3550.00 3579.12 3520.88 1725.00 3910.94 0 0 0 30.00 30.00 15.99

2169.63 1028 -146.63 -1.26 0.00 3549.9 3578.8 3521.1 1725.2 3912.0 152.15 -8.60 325 2176.89 0.00 0.00 2.71 0.000 0.000 0.069 3551.50 3580.38 3522.62 1724.94 2724.88 0 0 0 30.00 30.00 16.02

2265 end dive: TARGET_DEPTH_EXCEEDED

state 2265 begin apogee

2266.88 10243 0.00 -0.32 0.00 3550.4 3579.1 3521.8 1725.4 2574.6 160.28 -8.43 335 2382.36 105.96 1.54 0.08 1.347 0.141 0.242 2949.09 3016.75 2881.44 1954.75 2625.31 0 0 0 12.34 15.99 15.55

2386 end apogee: CONTROL_FINISHED_OK

state 2386 begin climb

2386.61 10243 146.63 1.26 0.00 2946.6 3013.8 2879.3 1955.5 2624.8 162.15 0.00 346 2508.45 110.50 2.56 0.00 1.284 0.093 0.000 2352.47 2436.50 2268.44 2337.81 2625.62 0 0 0 12.08 15.57 30.00

2691.91 16646 146.63 1.26 80.00 2342.6 2422.9 2262.3 2338.6 2624.9 123.09 15.12 377 2697.98 0.00 0.00 3.29 0.000 0.000 0.120 2341.50 2420.94 2262.06 2339.12 3909.94 0 0 0 30.00 30.00 15.62

2736.19 17414 146.63 1.26 0.00 2341.1 2419.6 2262.6 2339.2 3909.5 115.95 15.83 386 2743.66 0.00 0.00 3.13 0.000 0.000 0.069 2341.72 2419.94 2263.50 2339.25 2577.00 0 0 0 30.00 30.00 15.68

2932.79 16646 146.63 1.26 80.00 2341.7 2421.0 2262.3 2338.1 2576.8 87.46 15.01 406 2943.34 0.00 0.00 3.38 0.000 0.000 0.120 2340.62 2419.19 2262.06 2338.56 3908.94 0 0 0 30.00 30.00 15.74

2981.82 17414 146.63 1.26 0.00 2340.6 2418.4 2262.7 2337.9 3909.0 78.93 15.59 416 2987.84 0.00 0.00 3.12 0.000 0.000 0.068 2340.97 2417.75 2264.19 2338.56 2578.75 0 0 0 30.00 30.00 15.79

3171.85 16386 146.63 1.26 0.00 2339.7 2417.6 2261.8 2339.2 2578.4 51.27 14.24 436 3173.45 0.00 0.00 0.00 0.000 0.000 0.000 2336.28 2413.69 2258.88 2338.81 2577.62 0 0 0 30.00 30.00 30.00

3354.97 16646 146.63 1.26 80.00 2339.9 2418.6 2261.1 2338.9 2578.8 25.11 13.53 472 3361.82 0.00 0.00 3.35 0.000 0.000 0.120 2339.38 2418.38 2260.38 2338.31 3910.00 0 0 0 30.00 30.00 15.86

3435.31 17414 146.63 1.26 0.00 2338.5 2415.2 2261.8 2338.9 3909.8 14.39 12.64 488 3441.99 0.00 0.00 3.08 0.000 0.000 0.069 2339.78 2415.75 2263.81 2339.75 2576.50 0 0 0 30.00 30.00 15.90

3624.04 10791 301.38 1.45 -80.00 2338.2 2415.6 2260.9 2339.1 2576.7 4.77 2.75 525 3748.13 112.25 0.25 3.48 1.138 0.083 0.134 1720.97 1816.19 1625.75 2390.50 1189.00 0 0 0 12.21 15.92 15.50

3852 end climb: SURFACE_DEPTH_REACHED

state 3852 begin surface coast

3997 end surface coast: CONTROL_FINISHED_OK

state 3997 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	7	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	159.14743	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.844656	FG_AHR_24V	205.63643	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	250522,075931,4736.410,-12256.755,1,0.8,24,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,080339,4736.443,-12256.728,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	6.1,1109,-17.1,-9.697,-20.82,2278,0.132
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,-0.020484,0.020678,-0.070769,1.109790,-0.005205,0.024548,-0.024885,1.095297,-1006.469543,-1096.399780,-34.233189
TGT_LATLONG	4737.000,-12256.400

FREEZE	0.76,14.053,-1.416,0,1,0	_10V_AH	14.79,0.000
FINISH	0.8,1.019252	FG_AHR_24Vo	205.830
SM_CCo	4242.59,200.16,1.123,0,541.8,609.3,474.3,590.73	FG_AHR_10Vo	159.184
SM_GC	1.40,200.16,13.61,3.67,1.123,0.079,0.059,541.8,609.3,474.3,212.9,2772.0,0,0,0,12.02,15.73,15.77	MEM0	60132,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4736.00,-12258.89,250522,064332	MEM2	942852,25,103636,79
TCM_TEMP	13.81	DATA_FILE_SIZE	16155,598
SC_FREEKB	3876448	CAP_FILE_SIZE	399135,0
PM_FREEKB_00	61700096	SDSIZE	3918848,3880736
PM_ACTIVECARD	0	SDFILEDIR	319,3
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	48.42	MAGCAL	1.000000,-0.013160,0.041598,-0.073175,1.116266,0.011941,0.015757,-0.019937,1.106667,-1024.6,-1111.0,-46.6,36,0.0294,0
TEMP	10.64	IMPLIED_C_PITCH	2010,15.81,283,2019.9,15.83
INTERNAL_PRESSURE	7.94087	IMPLIED_C_VBD	3146,30.289389,283,3047.8
_24V_AH	14.80,111.586	GPS	250522,091539,4736.853,-12256.430,2,1.3,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1346	12888.85	nil	0	0	0.00
Pitch_motor	29	257	113.48	nil	0	0	0.00
Roll_motor	63	241	227.20	nil	0	0	0.00
Iridium	154	214	489.69	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	2513	5	190.33	SciCon	4009	6	381.25
Fast	0	0	0.00	PMAR	4014	17	1052.34
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1738	0	8.23
Compass	1217	5	90.01
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	495.3	561.4	429.3	209.2	2726.4	0.00	0.00	0	109.53	94.76	0.00	0.00	0.005	0.000	0.000	2738.12	2733.81	2742.44	209.12	2727.31	0	0	0	15.63	30.00	30.00
109.78	18983	-146.63	-1.26	-80.00	2738.2	2735.2	2741.1	209.2	2725.8	3.47	-2.15	18	156.62	23.12	11.81	3.46	0.006	0.258	0.121	3545.25	3570.62	3519.88	1725.19	1280.75	0	0	0	15.83	15.68	15.75
384.99	1060	-146.63	-1.26	0.00	3549.4	3577.3	3521.5	1724.8	1281.1	21.94	-6.42	72	391.49	0.00	0.00	3.47	0.000	0.000	0.061	3549.91	3577.12	3522.69	1724.94	2769.69	0	0	0	30.00	30.00	15.86
572.95	548	-146.63	-1.26	-80.00	3549.6	3577.9	3521.2	1724.8	2770.0	30.84	-4.62	109	579.52	0.00	0.00	3.57	0.000	0.000	0.115	3549.44	3578.12	3520.75	1724.44	1278.44	0	0	0	30.00	30.00	15.86
617.97	1060	-146.63	-1.26	0.00	3549.8	3578.5	3521.2	1725.4	1278.9	33.39	-5.36	118	624.64	0.00	0.00	3.49	0.000	0.000	0.061	3551.41	3579.94	3522.88	1724.81	2769.25	0	0	0	30.00	30.00	15.90
808.10	32	-146.63	-1.26	0.00	3550.2	3578.7	3521.8	1725.2	2770.1	43.98	-5.73	156	812.64	0.00	0.00	0.00	0.000	0.000	0.000	3550.16	3579.12	3521.19	1725.25	2770.25	0	0	0	30.00	30.00	30.00
995.14	292	-146.63	-1.26	80.00	3549.7	3578.2	3521.2	1725.4	2769.9	55.96	-6.61	185	1000.80	0.00	0.00	2.86	0.000	0.000	0.121	3550.41	3578.06	3522.75	1725.69	3910.31	0	0	0	30.00	30.00	15.92
1059.40	1028	-146.63	-1.26	0.00	3549.6	3577.6	3521.5	1724.8	3910.4	60.88	-7.70	198	1066.50	0.00	0.00	2.71	0.000	0.000	0.064	3550.94	3578.81	3523.06	1724.75	2724.06	0	0	0	30.00	30.00	15.96
1255.19	32	-146.63	-1.26	0.00	3550.0	3578.8	3521.2	1724.9	2725.4	75.03	-7.52	218	1256.75	0.00	0.00	0.00	0.000	0.000	0.000	3549.25	3578.94	3519.56	1724.56	2724.62	0	0	0	30.00	30.00	30.00
1445.17	260	-146.63	-1.26	80.00	3550.4	3579.1	3521.7	1724.6	2724.8	89.99	-8.28	237	1450.89	0.00	0.00	2.89	0.000	0.000	0.120	3552.66	3581.19	3524.12	1725.62	3910.56	0	0	0	30.00	30.00	15.95
1479.46	1028	-146.63	-1.26	0.00	3550.1	3578.8	3521.5	1725.7	3909.4	93.13	-8.71	244	1486.57	0.00	0.00	2.71	0.000	0.000	0.066	3527.12	3532.12	3522.12	1724.81	2724.25	0	0	0	30.00	30.00	15.99
1675.21	0	-146.63	-1.26	0.00	3550.3	3579.1	3521.6	1725.6	2724.6	109.18	-8.37	264	1676.77	0.00	0.00	0.00	0.000	0.000	0.000	3549.38	3577.75	3521.00	1725.62	2725.19	0	0	0	30.00	30.00	30.00
1865.29	260	-146.63	-1.26	80.00	3550.3	3579.6	3521.0	1725.6	2724.4	125.67	-8.69	283	1871.21	0.00	0.00	2.96	0.000	0.000	0.122	3549.91	3578.62	3521.19	1724.88	3911.56	0	0	0	30.00	30.00	15.98
1939.59	1028	-146.63	-1.26	0.00	3551.1	3580.5	3521.7	1725.4	3912.5	132.81	-9.63	298	1946.84	0.00	0.00	2.72	0.000	0.000	0.068	3550.47	3579.62	3521.31	1725.12	2724.62	0	0	0	30.00	30.00	16.01
2135.35	260	-146.63	-1.26	80.00	3550.2	3579.4	3521.0	1725.1	2725.2	148.94	-7.72	318	2141.25	0.00	0.00	2.97	0.000	0.000	0.122	3550.00	3579.12	3520.88	1725.00	3910.94	0	0	0	30.00	30.00	15.99
2169.63	1028	-146.63	-1.26	0.00	3549.9	3578.8	3521.1	1725.2	3912.0	152.15	-8.60	325	2176.89	0.00	0.00	2.71	0.000	0.000	0.069	3551.50	3580.38	3522.62	1724.94	2724.88	0	0	0	30.00	30.00	16.02
2265	end dive: TARGET_DEPTH_EXCEEDED
state	2265	begin apogee
2266.88	10243	0.00	-0.32	0.00	3550.4	3579.1	3521.8	1725.4	2574.6	160.28	-8.43	335	2382.36	105.96	1.54	0.08	1.347	0.141	0.242	2949.09	3016.75	2881.44	1954.75	2625.31	0	0	0	12.34	15.99	15.55
2386	end apogee: CONTROL_FINISHED_OK
state	2386	begin climb
2386.61	10243	146.63	1.26	0.00	2946.6	3013.8	2879.3	1955.5	2624.8	162.15	0.00	346	2508.45	110.50	2.56	0.00	1.284	0.093	0.000	2352.47	2436.50	2268.44	2337.81	2625.62	0	0	0	12.08	15.57	30.00
2691.91	16646	146.63	1.26	80.00	2342.6	2422.9	2262.3	2338.6	2624.9	123.09	15.12	377	2697.98	0.00	0.00	3.29	0.000	0.000	0.120	2341.50	2420.94	2262.06	2339.12	3909.94	0	0	0	30.00	30.00	15.62
2736.19	17414	146.63	1.26	0.00	2341.1	2419.6	2262.6	2339.2	3909.5	115.95	15.83	386	2743.66	0.00	0.00	3.13	0.000	0.000	0.069	2341.72	2419.94	2263.50	2339.25	2577.00	0	0	0	30.00	30.00	15.68
2932.79	16646	146.63	1.26	80.00	2341.7	2421.0	2262.3	2338.1	2576.8	87.46	15.01	406	2943.34	0.00	0.00	3.38	0.000	0.000	0.120	2340.62	2419.19	2262.06	2338.56	3908.94	0	0	0	30.00	30.00	15.74
2981.82	17414	146.63	1.26	0.00	2340.6	2418.4	2262.7	2337.9	3909.0	78.93	15.59	416	2987.84	0.00	0.00	3.12	0.000	0.000	0.068	2340.97	2417.75	2264.19	2338.56	2578.75	0	0	0	30.00	30.00	15.79
3171.85	16386	146.63	1.26	0.00	2339.7	2417.6	2261.8	2339.2	2578.4	51.27	14.24	436	3173.45	0.00	0.00	0.00	0.000	0.000	0.000	2336.28	2413.69	2258.88	2338.81	2577.62	0	0	0	30.00	30.00	30.00
3354.97	16646	146.63	1.26	80.00	2339.9	2418.6	2261.1	2338.9	2578.8	25.11	13.53	472	3361.82	0.00	0.00	3.35	0.000	0.000	0.120	2339.38	2418.38	2260.38	2338.31	3910.00	0	0	0	30.00	30.00	15.86
3435.31	17414	146.63	1.26	0.00	2338.5	2415.2	2261.8	2338.9	3909.8	14.39	12.64	488	3441.99	0.00	0.00	3.08	0.000	0.000	0.069	2339.78	2415.75	2263.81	2339.75	2576.50	0	0	0	30.00	30.00	15.90
3624.04	10791	301.38	1.45	-80.00	2338.2	2415.6	2260.9	2339.1	2576.7	4.77	2.75	525	3748.13	112.25	0.25	3.48	1.138	0.083	0.134	1720.97	1816.19	1625.75	2390.50	1189.00	0	0	0	12.21	15.92	15.50
3852	end climb: SURFACE_DEPTH_REACHED
state	3852	begin surface coast
3997	end surface coast: CONTROL_FINISHED_OK
state	3997	begin surface