Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 7 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 8 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 611.3277 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 -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3032.1523 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 69

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 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1742.8601 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 16.696104 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.711378 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 29.104433 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 -189.03369 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 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 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 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 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.711378 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.104433 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 16.696104 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 3628 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 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 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1742.8601 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 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 3032.1523 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 72520 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 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 8 MISSION 7 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 250522,104001,4736.747,-12256.487,9,0.9,31,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,104301,4736.777,-12256.458,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 199.0,1590,-17.1,-9.697,-20.82,2278,0.158

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

FINISH 2.5,1.020227 FG_AHR_10Vo 19.729

SM_CCo 4200.67,285.31,0.897,0,500.2,569.3,431.1,621.05 MEM0 60132,1,0,0

SM_GC 1.32,0.00,11.53,0.09,0.000,0.074,0.143,496.6,569.7,423.6,192.4,2182.1,0,0,0,30.00,15.58,15.60 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 944632,30,102096,62

IRIDIUM_FIX 4735.53,-12254.47,250522,093308 DATA_FILE_SIZE 16151,565

TCM_TEMP 12.85 CAP_FILE_SIZE 378232,0

SC_FREEKB 3876224 SDSIZE 3887104,3868864

RAFOS_CLK -5 SDFILEDIR 111,1

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.68 SOUNDSPEED 1465.0

TEMP 10.53 CURRENT 0.101, 40.0,1

INTERNAL_PRESSURE 8.1042 MAGCAL 1.000000,0.002938,0.029448,0.004506,1.095780,-0.050043,0.002363,-0.040446,1.016679,429.7,-1319.2,-206.2,34,0.0269,0

_24V_AH 14.97,9.089 IMPLIED_C_PITCH 1756,18.23,302,1749.2,17.46

_10V_AH 14.98,0.000 IMPLIED_C_VBD 2997,32.076828,302,3014.4

FG_AHR_24Vo 29.272 GPS 250522,115547,4736.581,-12256.586,2,1.0,5,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 692 1071 11103.47 nil 0 0 0.00

Pitch_motor 27 290 121.50 nil 0 0 0.00

Roll_motor 77 182 211.46 nil 0 0 0.00

Iridium 112 208 351.80 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.00 nil 0 0 0.00

Core 2311 5 177.28 SciCon 3908 6 403.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1857 0 8.91

Compass 1138 5 85.29

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.64 16386 -146.63 -1.20 0.00 533.5 602.3 464.7 197.4 2186.4 0.00 0.00 0 81.36 71.17 0.00 0.00 0.005 0.000 0.000 2236.81 2201.19 2272.44 197.25 2186.06 0 0 0 15.24 30.00 30.00

81.66 18727 -146.63 -1.20 80.00 2235.8 2200.1 2271.4 197.4 2186.9 3.26 -2.85 13 147.96 41.65 10.35 3.45 0.005 0.290 0.105 3629.44 3620.19 3638.69 1449.94 3620.56 0 0 0 15.88 15.69 15.81

156.42 3205 -146.63 -0.85 0.00 3629.1 3620.1 3638.1 1450.2 3620.4 10.31 -11.01 27 163.51 0.00 0.62 3.41 0.000 0.197 0.045 3629.97 3621.69 3638.25 1536.38 2116.38 0 0 0 30.00 15.78 15.84

346.94 292 -146.63 -0.85 80.00 3631.2 3625.8 3636.5 1536.6 2115.8 26.92 -8.08 65 353.74 0.00 0.00 3.65 0.000 0.000 0.103 3631.22 3626.81 3635.62 1536.81 3618.31 0 0 0 30.00 30.00 15.90

412.25 1188 -146.63 -0.78 0.00 3630.6 3625.5 3635.6 1536.6 3617.8 33.10 -9.59 78 418.97 0.00 0.00 3.39 0.000 0.000 0.046 3631.78 3626.31 3637.25 1536.62 2115.69 0 0 0 30.00 30.00 15.94

600.83 548 -146.63 -0.78 -80.00 3631.3 3627.1 3635.6 1536.9 2114.8 48.13 -7.60 115 607.70 0.00 0.00 3.48 0.000 0.000 0.110 3631.50 3626.81 3636.19 1536.62 680.88 0 0 0 30.00 30.00 15.96

635.51 1060 -146.63 -0.78 0.00 3631.6 3627.4 3635.7 1536.8 680.9 51.14 -8.36 122 643.12 0.00 0.00 3.41 0.000 0.000 0.046 3632.50 3627.75 3637.25 1536.75 2181.12 0 0 0 30.00 30.00 16.00

831.26 292 -146.63 -0.78 80.00 3631.2 3627.4 3635.1 1536.8 2180.9 65.95 -7.40 142 837.42 0.00 0.00 3.46 0.000 0.000 0.106 3631.22 3627.50 3634.94 1536.88 3617.69 0 0 0 30.00 30.00 16.02

891.36 3237 -146.63 -0.74 0.00 3631.4 3627.3 3635.6 1536.3 3617.6 71.37 -9.41 154 898.59 0.00 0.17 3.38 0.000 0.184 0.046 3630.88 3627.06 3634.69 1563.12 2116.19 0 0 0 30.00 16.00 16.05

1079.42 420 -146.63 -0.83 80.00 3631.7 3628.4 3635.0 1563.4 2115.9 84.98 -7.09 174 1086.64 0.00 0.00 3.62 0.000 0.000 0.104 3631.06 3628.00 3634.12 1563.25 3618.88 0 0 0 30.00 30.00 16.05

1114.86 5285 -146.63 -0.89 0.00 3631.2 3627.8 3634.7 1563.8 3618.8 87.39 -7.46 180 1124.97 0.00 0.34 3.38 0.000 0.082 0.046 3631.84 3628.50 3635.19 1511.81 2115.12 0 0 0 30.00 16.06 16.06

1308.70 32 -146.63 -0.89 0.00 3631.7 3628.3 3635.0 1511.8 2114.5 105.03 -9.05 201 1310.31 0.00 0.00 0.00 0.000 0.000 0.000 3631.28 3628.00 3634.56 1511.62 2114.94 0 0 0 30.00 30.00 30.00

1498.67 260 -146.63 -0.89 80.00 3632.0 3628.8 3635.1 1511.6 2114.1 123.23 -9.85 220 1505.12 0.00 0.00 3.62 0.000 0.000 0.104 3631.25 3627.56 3634.94 1511.00 3618.94 0 0 0 30.00 30.00 16.09

1538.78 3205 -146.63 -0.82 0.00 3631.7 3628.2 3635.2 1510.5 3618.1 127.70 -11.30 228 1546.12 0.00 0.28 3.37 0.000 0.174 0.047 3631.19 3627.62 3634.75 1544.50 2117.25 0 0 0 30.00 16.07 16.12

1729.76 160 -146.63 -0.88 0.00 3631.6 3628.4 3634.8 1544.7 2117.9 144.94 -9.07 248 1739.62 0.00 0.00 0.00 0.000 0.000 0.000 3631.88 3628.62 3635.12 1544.81 2117.19 0 0 0 30.00 30.00 30.00

1920 end dive: TARGET_DEPTH_EXCEEDED

state 1920 begin apogee

1921.11 10243 0.00 -0.30 0.00 3631.9 3628.9 3634.9 1544.6 2181.4 160.06 -8.16 267 2040.76 111.92 0.87 0.10 1.072 0.150 0.183 3029.59 3083.62 2975.56 1669.88 2110.75 0 0 0 11.82 16.08 15.75

2042 end apogee: CONTROL_FINISHED_OK

state 2042 begin climb

2042.14 10759 146.63 1.20 -80.00 3030.7 3084.4 2977.0 1670.0 2110.8 164.32 0.00 278 2177.36 115.81 2.52 3.60 1.031 0.122 0.114 2432.38 2499.50 2365.25 2035.56 682.25 0 0 0 11.74 15.74 15.52

2200.20 5253 146.63 0.97 0.00 2429.6 2493.9 2365.2 2035.2 682.1 151.76 13.46 307 2208.17 0.00 0.52 3.46 0.000 0.190 0.047 2430.00 2493.88 2366.12 1971.69 2174.44 0 0 0 30.00 15.54 15.62

2395.91 8486 165.13 0.99 80.00 2426.4 2489.8 2363.0 1971.4 2174.9 133.16 8.87 327 2422.18 16.16 0.00 3.58 0.943 0.000 0.111 2360.09 2427.56 2292.62 1971.62 3617.88 0 0 0 11.75 30.00 15.73

2470.23 1156 165.13 0.94 0.00 2355.1 2419.8 2290.4 1971.1 3617.6 125.74 10.75 342 2477.81 0.00 0.00 3.43 0.000 0.000 0.046 2356.75 2421.00 2292.50 1972.06 2119.00 0 0 0 30.00 30.00 15.81

2665.94 8226 175.80 0.95 0.00 2355.0 2419.8 2290.2 1971.7 2118.8 107.79 9.22 362 2678.54 10.59 0.00 0.00 0.873 0.000 0.000 2314.66 2382.38 2246.94 1971.75 2118.44 0 0 0 11.74 30.00 30.00

2869.09 8614 191.36 1.01 80.00 2313.4 2379.6 2247.3 1971.8 2119.0 88.81 9.00 383 2892.03 14.65 0.00 3.68 0.922 0.000 0.110 2251.72 2322.75 2180.69 1971.31 3616.88 0 0 0 11.76 30.00 15.88

2963.75 1028 191.36 1.01 0.00 2248.6 2317.3 2179.9 1971.5 3616.5 79.35 10.31 401 2969.97 0.00 0.00 3.40 0.000 0.000 0.047 2250.84 2320.00 2181.69 1970.88 2118.81 0 0 0 30.00 30.00 15.94

3153.93 10663 203.06 1.08 80.00 2248.3 2317.1 2179.6 1971.6 2118.3 62.33 9.17 421 3176.10 11.34 0.25 3.66 0.872 0.089 0.110 2202.66 2273.94 2131.38 2011.12 3618.44 0 0 0 12.03 15.97 15.92

3218.95 5253 203.06 0.97 0.00 2201.6 2271.4 2131.8 2010.6 3617.7 54.30 13.17 434 3226.76 0.00 0.31 3.40 0.000 0.176 0.047 2202.47 2272.00 2132.94 1971.25 2117.62 0 0 0 30.00 15.91 15.97

3409.75 10403 218.09 1.05 0.00 2201.5 2271.3 2131.6 1970.7 2117.4 36.19 9.02 468 3425.61 13.52 0.22 0.00 0.887 0.092 0.000 2141.84 2216.56 2067.12 2005.12 2116.94 0 0 0 11.70 16.00 30.00

3607.77 260 218.09 1.05 80.00 2139.8 2212.9 2066.6 2004.4 2117.4 15.84 10.18 507 3614.95 0.00 0.00 3.64 0.000 0.000 0.109 2139.66 2212.81 2066.50 2005.62 3615.94 0 0 0 30.00 30.00 15.99

3668.50 1156 218.09 1.02 0.00 2138.4 2210.5 2066.4 2005.4 3616.6 9.74 9.99 519 3675.32 0.00 0.00 3.39 0.000 0.000 0.048 2138.47 2210.19 2066.75 2005.12 2121.00 0 0 0 30.00 30.00 16.03

3834 end climb: SURFACE_DEPTH_REACHED

state 3834 begin surface coast

3899 end surface coast: CONTROL_FINISHED_OK

state 3899 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	8	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	611.3277	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	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3032.1523	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	69
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	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1742.8601	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	16.696104	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.711378	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	29.104433	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	-189.03369	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	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	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	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	250522,104001,4736.747,-12256.487,9,0.9,31,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,104301,4736.777,-12256.458,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	199.0,1590,-17.1,-9.697,-20.82,2278,0.158
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175
TGT_LATLONG	4736.000,-12257.000

FINISH	2.5,1.020227	FG_AHR_10Vo	19.729
SM_CCo	4200.67,285.31,0.897,0,500.2,569.3,431.1,621.05	MEM0	60132,1,0,0
SM_GC	1.32,0.00,11.53,0.09,0.000,0.074,0.143,496.6,569.7,423.6,192.4,2182.1,0,0,0,30.00,15.58,15.60	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	944632,30,102096,62
IRIDIUM_FIX	4735.53,-12254.47,250522,093308	DATA_FILE_SIZE	16151,565
TCM_TEMP	12.85	CAP_FILE_SIZE	378232,0
SC_FREEKB	3876224	SDSIZE	3887104,3868864
RAFOS_CLK	-5	SDFILEDIR	111,1
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.68	SOUNDSPEED	1465.0
TEMP	10.53	CURRENT	0.101, 40.0,1
INTERNAL_PRESSURE	8.1042	MAGCAL	1.000000,0.002938,0.029448,0.004506,1.095780,-0.050043,0.002363,-0.040446,1.016679,429.7,-1319.2,-206.2,34,0.0269,0
_24V_AH	14.97,9.089	IMPLIED_C_PITCH	1756,18.23,302,1749.2,17.46
_10V_AH	14.98,0.000	IMPLIED_C_VBD	2997,32.076828,302,3014.4
FG_AHR_24Vo	29.272	GPS	250522,115547,4736.581,-12256.586,2,1.0,5,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	692	1071	11103.47	nil	0	0	0.00
Pitch_motor	27	290	121.50	nil	0	0	0.00
Roll_motor	77	182	211.46	nil	0	0	0.00
Iridium	112	208	351.80	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.00	nil	0	0	0.00
Core	2311	5	177.28	SciCon	3908	6	403.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1857	0	8.91
Compass	1138	5	85.29
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.64	16386	-146.63	-1.20	0.00	533.5	602.3	464.7	197.4	2186.4	0.00	0.00	0	81.36	71.17	0.00	0.00	0.005	0.000	0.000	2236.81	2201.19	2272.44	197.25	2186.06	0	0	0	15.24	30.00	30.00
81.66	18727	-146.63	-1.20	80.00	2235.8	2200.1	2271.4	197.4	2186.9	3.26	-2.85	13	147.96	41.65	10.35	3.45	0.005	0.290	0.105	3629.44	3620.19	3638.69	1449.94	3620.56	0	0	0	15.88	15.69	15.81
156.42	3205	-146.63	-0.85	0.00	3629.1	3620.1	3638.1	1450.2	3620.4	10.31	-11.01	27	163.51	0.00	0.62	3.41	0.000	0.197	0.045	3629.97	3621.69	3638.25	1536.38	2116.38	0	0	0	30.00	15.78	15.84
346.94	292	-146.63	-0.85	80.00	3631.2	3625.8	3636.5	1536.6	2115.8	26.92	-8.08	65	353.74	0.00	0.00	3.65	0.000	0.000	0.103	3631.22	3626.81	3635.62	1536.81	3618.31	0	0	0	30.00	30.00	15.90
412.25	1188	-146.63	-0.78	0.00	3630.6	3625.5	3635.6	1536.6	3617.8	33.10	-9.59	78	418.97	0.00	0.00	3.39	0.000	0.000	0.046	3631.78	3626.31	3637.25	1536.62	2115.69	0	0	0	30.00	30.00	15.94
600.83	548	-146.63	-0.78	-80.00	3631.3	3627.1	3635.6	1536.9	2114.8	48.13	-7.60	115	607.70	0.00	0.00	3.48	0.000	0.000	0.110	3631.50	3626.81	3636.19	1536.62	680.88	0	0	0	30.00	30.00	15.96
635.51	1060	-146.63	-0.78	0.00	3631.6	3627.4	3635.7	1536.8	680.9	51.14	-8.36	122	643.12	0.00	0.00	3.41	0.000	0.000	0.046	3632.50	3627.75	3637.25	1536.75	2181.12	0	0	0	30.00	30.00	16.00
831.26	292	-146.63	-0.78	80.00	3631.2	3627.4	3635.1	1536.8	2180.9	65.95	-7.40	142	837.42	0.00	0.00	3.46	0.000	0.000	0.106	3631.22	3627.50	3634.94	1536.88	3617.69	0	0	0	30.00	30.00	16.02
891.36	3237	-146.63	-0.74	0.00	3631.4	3627.3	3635.6	1536.3	3617.6	71.37	-9.41	154	898.59	0.00	0.17	3.38	0.000	0.184	0.046	3630.88	3627.06	3634.69	1563.12	2116.19	0	0	0	30.00	16.00	16.05
1079.42	420	-146.63	-0.83	80.00	3631.7	3628.4	3635.0	1563.4	2115.9	84.98	-7.09	174	1086.64	0.00	0.00	3.62	0.000	0.000	0.104	3631.06	3628.00	3634.12	1563.25	3618.88	0	0	0	30.00	30.00	16.05
1114.86	5285	-146.63	-0.89	0.00	3631.2	3627.8	3634.7	1563.8	3618.8	87.39	-7.46	180	1124.97	0.00	0.34	3.38	0.000	0.082	0.046	3631.84	3628.50	3635.19	1511.81	2115.12	0	0	0	30.00	16.06	16.06
1308.70	32	-146.63	-0.89	0.00	3631.7	3628.3	3635.0	1511.8	2114.5	105.03	-9.05	201	1310.31	0.00	0.00	0.00	0.000	0.000	0.000	3631.28	3628.00	3634.56	1511.62	2114.94	0	0	0	30.00	30.00	30.00
1498.67	260	-146.63	-0.89	80.00	3632.0	3628.8	3635.1	1511.6	2114.1	123.23	-9.85	220	1505.12	0.00	0.00	3.62	0.000	0.000	0.104	3631.25	3627.56	3634.94	1511.00	3618.94	0	0	0	30.00	30.00	16.09
1538.78	3205	-146.63	-0.82	0.00	3631.7	3628.2	3635.2	1510.5	3618.1	127.70	-11.30	228	1546.12	0.00	0.28	3.37	0.000	0.174	0.047	3631.19	3627.62	3634.75	1544.50	2117.25	0	0	0	30.00	16.07	16.12
1729.76	160	-146.63	-0.88	0.00	3631.6	3628.4	3634.8	1544.7	2117.9	144.94	-9.07	248	1739.62	0.00	0.00	0.00	0.000	0.000	0.000	3631.88	3628.62	3635.12	1544.81	2117.19	0	0	0	30.00	30.00	30.00
1920	end dive: TARGET_DEPTH_EXCEEDED
state	1920	begin apogee
1921.11	10243	0.00	-0.30	0.00	3631.9	3628.9	3634.9	1544.6	2181.4	160.06	-8.16	267	2040.76	111.92	0.87	0.10	1.072	0.150	0.183	3029.59	3083.62	2975.56	1669.88	2110.75	0	0	0	11.82	16.08	15.75
2042	end apogee: CONTROL_FINISHED_OK
state	2042	begin climb
2042.14	10759	146.63	1.20	-80.00	3030.7	3084.4	2977.0	1670.0	2110.8	164.32	0.00	278	2177.36	115.81	2.52	3.60	1.031	0.122	0.114	2432.38	2499.50	2365.25	2035.56	682.25	0	0	0	11.74	15.74	15.52
2200.20	5253	146.63	0.97	0.00	2429.6	2493.9	2365.2	2035.2	682.1	151.76	13.46	307	2208.17	0.00	0.52	3.46	0.000	0.190	0.047	2430.00	2493.88	2366.12	1971.69	2174.44	0	0	0	30.00	15.54	15.62
2395.91	8486	165.13	0.99	80.00	2426.4	2489.8	2363.0	1971.4	2174.9	133.16	8.87	327	2422.18	16.16	0.00	3.58	0.943	0.000	0.111	2360.09	2427.56	2292.62	1971.62	3617.88	0	0	0	11.75	30.00	15.73
2470.23	1156	165.13	0.94	0.00	2355.1	2419.8	2290.4	1971.1	3617.6	125.74	10.75	342	2477.81	0.00	0.00	3.43	0.000	0.000	0.046	2356.75	2421.00	2292.50	1972.06	2119.00	0	0	0	30.00	30.00	15.81
2665.94	8226	175.80	0.95	0.00	2355.0	2419.8	2290.2	1971.7	2118.8	107.79	9.22	362	2678.54	10.59	0.00	0.00	0.873	0.000	0.000	2314.66	2382.38	2246.94	1971.75	2118.44	0	0	0	11.74	30.00	30.00
2869.09	8614	191.36	1.01	80.00	2313.4	2379.6	2247.3	1971.8	2119.0	88.81	9.00	383	2892.03	14.65	0.00	3.68	0.922	0.000	0.110	2251.72	2322.75	2180.69	1971.31	3616.88	0	0	0	11.76	30.00	15.88
2963.75	1028	191.36	1.01	0.00	2248.6	2317.3	2179.9	1971.5	3616.5	79.35	10.31	401	2969.97	0.00	0.00	3.40	0.000	0.000	0.047	2250.84	2320.00	2181.69	1970.88	2118.81	0	0	0	30.00	30.00	15.94
3153.93	10663	203.06	1.08	80.00	2248.3	2317.1	2179.6	1971.6	2118.3	62.33	9.17	421	3176.10	11.34	0.25	3.66	0.872	0.089	0.110	2202.66	2273.94	2131.38	2011.12	3618.44	0	0	0	12.03	15.97	15.92
3218.95	5253	203.06	0.97	0.00	2201.6	2271.4	2131.8	2010.6	3617.7	54.30	13.17	434	3226.76	0.00	0.31	3.40	0.000	0.176	0.047	2202.47	2272.00	2132.94	1971.25	2117.62	0	0	0	30.00	15.91	15.97
3409.75	10403	218.09	1.05	0.00	2201.5	2271.3	2131.6	1970.7	2117.4	36.19	9.02	468	3425.61	13.52	0.22	0.00	0.887	0.092	0.000	2141.84	2216.56	2067.12	2005.12	2116.94	0	0	0	11.70	16.00	30.00
3607.77	260	218.09	1.05	80.00	2139.8	2212.9	2066.6	2004.4	2117.4	15.84	10.18	507	3614.95	0.00	0.00	3.64	0.000	0.000	0.109	2139.66	2212.81	2066.50	2005.62	3615.94	0	0	0	30.00	30.00	15.99
3668.50	1156	218.09	1.02	0.00	2138.4	2210.5	2066.4	2005.4	3616.6	9.74	9.99	519	3675.32	0.00	0.00	3.39	0.000	0.000	0.048	2138.47	2210.19	2066.75	2005.12	2121.00	0	0	0	30.00	30.00	16.03
3834	end climb: SURFACE_DEPTH_REACHED
state	3834	begin surface coast
3899	end surface coast: CONTROL_FINISHED_OK
state	3899	begin surface