Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 9 * 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 9 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 3014.4128 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 1749.2332 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 17.462616 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.730019 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 29.279087 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 19.730019 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.279087 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 17.462616 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 1749.2332 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 3014.4128 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 9 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 250522,115547,4736.581,-12256.586,2,1.0,5,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,115904,4736.625,-12256.531,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 196.5,1297,-17.1,-9.697,-20.82,2278,0.122

SPEED_LIMITS 0.168,0.255 D_GRID 169

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 -0.1,1.019530 FG_AHR_10Vo 19.748

SM_CCo 4196.17,213.58,0.892,0,523.1,584.8,461.4,611.03 MEM0 60132,1,0,0

SM_GC 1.21,213.58,11.95,0.09,0.892,0.083,0.146,523.1,584.8,461.4,202.1,2181.8,0,0,0,11.82,15.86,15.89 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944656,29,102092,62

IRIDIUM_FIX 4738.33,-12256.21,250522,104113 DATA_FILE_SIZE 16118,560

TCM_TEMP 12.80 CAP_FILE_SIZE 377193,0

SC_FREEKB 3875904 SDSIZE 3887104,3868576

RAFOS_CLK -5 SDFILEDIR 118,1

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 48.77 SOUNDSPEED 1465.0

TEMP 10.20 CURRENT 0.084, 40.0,1

INTERNAL_PRESSURE 8.09266 MAGCAL 1.000000,0.006585,-0.050814,-0.002804,1.092714,-0.106045,0.033919,-0.054138,1.059099,496.2,-1277.0,-216.8,35,0.0299,0

_24V_AH 14.82,9.264 IMPLIED_C_PITCH 1752,18.08,307,1750.5,17.77

_10V_AH 14.85,0.000 IMPLIED_C_VBD 3003,31.969576,307,3008.9

FG_AHR_24Vo 29.444 GPS 250522,130958,4736.391,-12256.719,2,1.2,7,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 687 1077 10979.87 nil 0 0 0.00

Pitch_motor 27 288 119.05 nil 0 0 0.00

Roll_motor 78 171 198.86 nil 0 0 0.00

Iridium 128 207 395.63 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2369 5 180.18 SciCon 3955 6 402.43

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1772 0 8.42

Compass 1133 5 84.14

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

6.66 16386 -146.63 -1.16 0.00 493.3 567.5 419.2 192.3 2107.2 0.00 0.00 0 100.21 89.31 0.00 0.00 0.005 0.000 0.000 2545.00 2521.06 2568.94 192.44 2106.88 0 0 0 15.87 30.00 30.00

100.51 18727 -146.63 -1.16 80.00 2543.7 2519.9 2567.5 192.6 2106.9 3.17 -2.45 18 161.42 31.33 10.50 3.68 0.005 0.288 0.103 3611.81 3603.00 3620.62 1467.38 3618.69 0 0 0 15.92 15.73 15.84

169.89 3205 -146.63 -0.91 0.00 3611.6 3603.9 3619.4 1467.6 3619.0 10.63 -11.78 30 176.86 0.00 0.44 3.41 0.000 0.190 0.046 3612.59 3605.12 3620.06 1530.62 2116.00 0 0 0 30.00 15.81 15.88

360.28 292 -146.63 -0.91 80.00 3613.5 3609.9 3617.1 1530.5 2115.9 27.01 -7.91 68 367.10 0.00 0.00 3.67 0.000 0.000 0.103 3615.22 3611.75 3618.69 1530.50 3619.50 0 0 0 30.00 30.00 15.92

420.62 1188 -146.63 -0.85 0.00 3613.0 3609.7 3616.2 1530.1 3618.7 32.56 -9.34 80 427.42 0.00 0.00 3.40 0.000 0.000 0.045 3614.12 3610.56 3617.69 1529.50 2114.44 0 0 0 30.00 30.00 15.96

610.95 32 -146.63 -0.85 0.00 3613.6 3610.8 3616.4 1530.4 2114.4 47.14 -7.58 118 615.55 0.00 0.00 0.00 0.000 0.000 0.000 3613.84 3610.81 3616.88 1530.81 2114.38 0 0 0 30.00 30.00 30.00

800.97 32 -146.63 -0.85 0.00 3613.5 3610.8 3616.2 1530.2 2114.6 61.70 -7.91 141 802.58 0.00 0.00 0.00 0.000 0.000 0.000 3613.25 3610.69 3615.81 1529.88 2114.19 0 0 0 30.00 30.00 30.00

991.00 292 -146.63 -0.85 80.00 3613.7 3611.0 3616.4 1530.1 2114.4 77.03 -7.97 160 998.31 0.00 0.00 3.64 0.000 0.000 0.104 3615.22 3612.38 3618.06 1529.50 3617.12 0 0 0 30.00 30.00 16.04

1086.85 1060 -146.63 -0.85 0.00 3613.6 3611.1 3616.0 1530.1 3617.4 85.84 -9.29 179 1092.96 0.00 0.00 3.39 0.000 0.000 0.047 3613.97 3611.06 3616.88 1530.69 2117.38 0 0 0 30.00 30.00 16.08

1275.88 292 -146.63 -0.85 80.00 3613.9 3611.2 3616.6 1530.2 2117.2 101.55 -8.32 199 1283.19 0.00 0.00 3.62 0.000 0.000 0.103 3614.84 3613.00 3616.69 1530.62 3617.94 0 0 0 30.00 30.00 16.07

1305.99 1060 -146.63 -0.85 0.00 3613.9 3611.3 3616.4 1530.3 3617.6 104.37 -8.67 205 1313.54 0.00 0.00 3.38 0.000 0.000 0.045 3614.12 3611.38 3616.88 1530.06 2115.88 0 0 0 30.00 30.00 16.10

1501.85 420 -146.63 -0.88 80.00 3613.8 3611.8 3615.9 1530.3 2115.9 120.38 -7.90 225 1509.05 0.00 0.00 3.62 0.000 0.000 0.104 3615.34 3612.69 3618.00 1530.56 3618.94 0 0 0 30.00 30.00 16.09

1537.57 1060 -146.63 -0.88 0.00 3614.1 3611.6 3616.5 1530.4 3619.4 123.68 -8.65 232 1543.66 0.00 0.00 3.38 0.000 0.000 0.046 3615.31 3613.06 3617.56 1530.50 2117.31 0 0 0 30.00 30.00 16.12

1727.69 160 -146.63 -0.92 0.00 3613.8 3611.4 3616.1 1529.6 2116.1 138.95 -7.87 252 1729.30 0.00 0.00 0.00 0.000 0.000 0.000 3613.53 3611.44 3615.62 1530.12 2115.31 0 0 0 30.00 30.00 30.00

1916.73 420 -146.63 -0.96 80.00 3614.1 3612.0 3616.2 1530.8 2115.8 154.23 -8.16 271 1923.95 0.00 0.00 3.62 0.000 0.000 0.105 3615.41 3612.44 3618.38 1530.81 3619.19 0 0 0 30.00 30.00 16.12

1964.79 1060 -146.63 -0.96 0.00 3614.0 3611.7 3616.2 1530.6 3619.4 158.71 -9.56 280 1970.96 0.00 0.00 3.38 0.000 0.000 0.046 3615.50 3613.62 3617.38 1530.38 2116.38 0 0 0 30.00 30.00 16.13

1985 end dive: TARGET_DEPTH_EXCEEDED

state 1985 begin apogee

1986.20 10243 0.00 -0.29 0.00 3613.9 3612.2 3615.7 1530.2 2184.1 160.41 -8.90 283 2106.08 112.02 1.03 0.11 1.078 0.151 0.172 3014.50 3067.75 2961.25 1680.69 2111.19 0 0 0 11.75 16.07 15.75

2107 end apogee: CONTROL_FINISHED_OK

state 2107 begin climb

2107.25 10503 146.63 1.16 80.00 3012.5 3066.2 2958.7 1680.5 2108.4 163.72 0.00 294 2242.36 115.43 2.39 3.77 1.036 0.117 0.106 2417.00 2484.81 2349.19 2032.69 3616.25 0 0 0 11.69 15.75 15.53

2245.28 5253 146.63 0.97 0.00 2412.4 2478.3 2346.4 2032.3 3616.9 153.44 10.52 312 2253.09 0.00 0.45 3.46 0.000 0.187 0.045 2413.56 2479.12 2348.00 1978.88 2117.69 0 0 0 30.00 15.51 15.59

2435.89 32 148.05 0.97 0.00 2409.1 2472.2 2346.0 1978.2 2117.8 134.63 9.63 332 2437.50 0.00 0.00 0.00 0.000 0.000 0.000 2408.06 2471.69 2344.44 1978.38 2117.12 0 0 0 30.00 30.00 30.00

2625.96 8486 150.93 0.97 80.00 2408.3 2470.8 2345.9 1978.7 2117.6 116.18 9.57 351 2638.34 4.89 0.00 3.70 0.584 0.000 0.109 2397.72 2460.19 2335.25 1978.88 3617.19 0 0 0 11.63 30.00 15.85

2696.93 1156 150.93 0.89 0.00 2396.4 2457.8 2335.0 1978.7 3616.1 108.33 11.37 365 2703.04 0.00 0.00 3.42 0.000 0.000 0.046 2395.47 2457.50 2333.44 1978.38 2120.25 0 0 0 30.00 30.00 15.91

2886.90 8486 160.89 0.90 80.00 2396.8 2458.2 2335.4 1978.6 2119.8 90.34 9.25 385 2904.91 10.40 0.00 3.66 0.869 0.000 0.109 2357.41 2422.44 2292.38 1978.31 3617.00 0 0 0 11.80 30.00 15.91

2933.46 1156 160.89 0.85 0.00 2355.6 2419.4 2291.7 1978.1 3616.9 85.64 10.35 394 2939.54 0.00 0.00 3.40 0.000 0.000 0.046 2357.69 2421.19 2294.19 1978.88 2117.56 0 0 0 30.00 30.00 15.94

3126.47 8486 176.10 0.87 80.00 2355.4 2419.3 2291.6 1978.1 2117.2 67.52 9.01 415 3154.70 14.15 0.00 3.67 0.914 0.000 0.109 2295.00 2363.38 2226.62 1978.62 3619.19 0 0 0 11.89 30.00 15.93

3177.52 5253 176.10 0.84 0.00 2293.0 2359.3 2226.6 1978.6 3619.9 62.37 10.41 424 3185.33 0.00 0.20 3.40 0.000 0.187 0.048 2293.78 2360.25 2227.31 1946.62 2117.25 0 0 0 30.00 15.89 15.97

3368.32 10403 230.40 1.01 0.00 2292.6 2358.8 2226.5 1945.9 2117.8 47.56 7.26 446 3415.91 42.20 0.35 0.00 0.963 0.079 0.000 2073.28 2157.38 1989.19 1999.69 2117.50 0 0 0 11.95 16.01 30.00

3599.47 388 230.40 1.05 80.00 2068.8 2148.4 1989.2 1999.1 2117.4 24.35 10.41 492 3606.43 0.00 0.00 3.67 0.000 0.000 0.109 2070.22 2149.00 1991.44 2000.56 3616.94 0 0 0 30.00 30.00 15.93

3649.90 1028 230.40 1.05 0.00 2067.2 2145.2 1989.2 2000.4 3616.6 18.33 12.17 502 3656.85 0.00 0.00 3.41 0.000 0.000 0.048 2067.53 2145.69 1989.38 2000.06 2119.00 0 0 0 30.00 30.00 15.98

3838.93 10919 338.55 1.39 -80.00 2066.9 2144.9 1988.9 2000.8 2118.6 4.61 4.84 539 3897.32 54.26 0.53 0.00 0.918 0.077 0.000 1778.31 1880.75 1675.88 2091.50 2118.12 0 0 0 11.85 15.99 30.00

3898 end climb: SURFACE_DEPTH_REACHED

state 3898 begin surface coast

3946 end surface coast: CONTROL_FINISHED_OK

state 3946 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	9	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	3014.4128	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	1749.2332	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	17.462616	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.730019	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	29.279087	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	250522,115547,4736.581,-12256.586,2,1.0,5,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,115904,4736.625,-12256.531,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	196.5,1297,-17.1,-9.697,-20.82,2278,0.122
SPEED_LIMITS	0.168,0.255	D_GRID	169
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	-0.1,1.019530	FG_AHR_10Vo	19.748
SM_CCo	4196.17,213.58,0.892,0,523.1,584.8,461.4,611.03	MEM0	60132,1,0,0
SM_GC	1.21,213.58,11.95,0.09,0.892,0.083,0.146,523.1,584.8,461.4,202.1,2181.8,0,0,0,11.82,15.86,15.89	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944656,29,102092,62
IRIDIUM_FIX	4738.33,-12256.21,250522,104113	DATA_FILE_SIZE	16118,560
TCM_TEMP	12.80	CAP_FILE_SIZE	377193,0
SC_FREEKB	3875904	SDSIZE	3887104,3868576
RAFOS_CLK	-5	SDFILEDIR	118,1
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	48.77	SOUNDSPEED	1465.0
TEMP	10.20	CURRENT	0.084, 40.0,1
INTERNAL_PRESSURE	8.09266	MAGCAL	1.000000,0.006585,-0.050814,-0.002804,1.092714,-0.106045,0.033919,-0.054138,1.059099,496.2,-1277.0,-216.8,35,0.0299,0
_24V_AH	14.82,9.264	IMPLIED_C_PITCH	1752,18.08,307,1750.5,17.77
_10V_AH	14.85,0.000	IMPLIED_C_VBD	3003,31.969576,307,3008.9
FG_AHR_24Vo	29.444	GPS	250522,130958,4736.391,-12256.719,2,1.2,7,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	687	1077	10979.87	nil	0	0	0.00
Pitch_motor	27	288	119.05	nil	0	0	0.00
Roll_motor	78	171	198.86	nil	0	0	0.00
Iridium	128	207	395.63	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2369	5	180.18	SciCon	3955	6	402.43
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1772	0	8.42
Compass	1133	5	84.14
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
6.66	16386	-146.63	-1.16	0.00	493.3	567.5	419.2	192.3	2107.2	0.00	0.00	0	100.21	89.31	0.00	0.00	0.005	0.000	0.000	2545.00	2521.06	2568.94	192.44	2106.88	0	0	0	15.87	30.00	30.00
100.51	18727	-146.63	-1.16	80.00	2543.7	2519.9	2567.5	192.6	2106.9	3.17	-2.45	18	161.42	31.33	10.50	3.68	0.005	0.288	0.103	3611.81	3603.00	3620.62	1467.38	3618.69	0	0	0	15.92	15.73	15.84
169.89	3205	-146.63	-0.91	0.00	3611.6	3603.9	3619.4	1467.6	3619.0	10.63	-11.78	30	176.86	0.00	0.44	3.41	0.000	0.190	0.046	3612.59	3605.12	3620.06	1530.62	2116.00	0	0	0	30.00	15.81	15.88
360.28	292	-146.63	-0.91	80.00	3613.5	3609.9	3617.1	1530.5	2115.9	27.01	-7.91	68	367.10	0.00	0.00	3.67	0.000	0.000	0.103	3615.22	3611.75	3618.69	1530.50	3619.50	0	0	0	30.00	30.00	15.92
420.62	1188	-146.63	-0.85	0.00	3613.0	3609.7	3616.2	1530.1	3618.7	32.56	-9.34	80	427.42	0.00	0.00	3.40	0.000	0.000	0.045	3614.12	3610.56	3617.69	1529.50	2114.44	0	0	0	30.00	30.00	15.96
610.95	32	-146.63	-0.85	0.00	3613.6	3610.8	3616.4	1530.4	2114.4	47.14	-7.58	118	615.55	0.00	0.00	0.00	0.000	0.000	0.000	3613.84	3610.81	3616.88	1530.81	2114.38	0	0	0	30.00	30.00	30.00
800.97	32	-146.63	-0.85	0.00	3613.5	3610.8	3616.2	1530.2	2114.6	61.70	-7.91	141	802.58	0.00	0.00	0.00	0.000	0.000	0.000	3613.25	3610.69	3615.81	1529.88	2114.19	0	0	0	30.00	30.00	30.00
991.00	292	-146.63	-0.85	80.00	3613.7	3611.0	3616.4	1530.1	2114.4	77.03	-7.97	160	998.31	0.00	0.00	3.64	0.000	0.000	0.104	3615.22	3612.38	3618.06	1529.50	3617.12	0	0	0	30.00	30.00	16.04
1086.85	1060	-146.63	-0.85	0.00	3613.6	3611.1	3616.0	1530.1	3617.4	85.84	-9.29	179	1092.96	0.00	0.00	3.39	0.000	0.000	0.047	3613.97	3611.06	3616.88	1530.69	2117.38	0	0	0	30.00	30.00	16.08
1275.88	292	-146.63	-0.85	80.00	3613.9	3611.2	3616.6	1530.2	2117.2	101.55	-8.32	199	1283.19	0.00	0.00	3.62	0.000	0.000	0.103	3614.84	3613.00	3616.69	1530.62	3617.94	0	0	0	30.00	30.00	16.07
1305.99	1060	-146.63	-0.85	0.00	3613.9	3611.3	3616.4	1530.3	3617.6	104.37	-8.67	205	1313.54	0.00	0.00	3.38	0.000	0.000	0.045	3614.12	3611.38	3616.88	1530.06	2115.88	0	0	0	30.00	30.00	16.10
1501.85	420	-146.63	-0.88	80.00	3613.8	3611.8	3615.9	1530.3	2115.9	120.38	-7.90	225	1509.05	0.00	0.00	3.62	0.000	0.000	0.104	3615.34	3612.69	3618.00	1530.56	3618.94	0	0	0	30.00	30.00	16.09
1537.57	1060	-146.63	-0.88	0.00	3614.1	3611.6	3616.5	1530.4	3619.4	123.68	-8.65	232	1543.66	0.00	0.00	3.38	0.000	0.000	0.046	3615.31	3613.06	3617.56	1530.50	2117.31	0	0	0	30.00	30.00	16.12
1727.69	160	-146.63	-0.92	0.00	3613.8	3611.4	3616.1	1529.6	2116.1	138.95	-7.87	252	1729.30	0.00	0.00	0.00	0.000	0.000	0.000	3613.53	3611.44	3615.62	1530.12	2115.31	0	0	0	30.00	30.00	30.00
1916.73	420	-146.63	-0.96	80.00	3614.1	3612.0	3616.2	1530.8	2115.8	154.23	-8.16	271	1923.95	0.00	0.00	3.62	0.000	0.000	0.105	3615.41	3612.44	3618.38	1530.81	3619.19	0	0	0	30.00	30.00	16.12
1964.79	1060	-146.63	-0.96	0.00	3614.0	3611.7	3616.2	1530.6	3619.4	158.71	-9.56	280	1970.96	0.00	0.00	3.38	0.000	0.000	0.046	3615.50	3613.62	3617.38	1530.38	2116.38	0	0	0	30.00	30.00	16.13
1985	end dive: TARGET_DEPTH_EXCEEDED
state	1985	begin apogee
1986.20	10243	0.00	-0.29	0.00	3613.9	3612.2	3615.7	1530.2	2184.1	160.41	-8.90	283	2106.08	112.02	1.03	0.11	1.078	0.151	0.172	3014.50	3067.75	2961.25	1680.69	2111.19	0	0	0	11.75	16.07	15.75
2107	end apogee: CONTROL_FINISHED_OK
state	2107	begin climb
2107.25	10503	146.63	1.16	80.00	3012.5	3066.2	2958.7	1680.5	2108.4	163.72	0.00	294	2242.36	115.43	2.39	3.77	1.036	0.117	0.106	2417.00	2484.81	2349.19	2032.69	3616.25	0	0	0	11.69	15.75	15.53
2245.28	5253	146.63	0.97	0.00	2412.4	2478.3	2346.4	2032.3	3616.9	153.44	10.52	312	2253.09	0.00	0.45	3.46	0.000	0.187	0.045	2413.56	2479.12	2348.00	1978.88	2117.69	0	0	0	30.00	15.51	15.59
2435.89	32	148.05	0.97	0.00	2409.1	2472.2	2346.0	1978.2	2117.8	134.63	9.63	332	2437.50	0.00	0.00	0.00	0.000	0.000	0.000	2408.06	2471.69	2344.44	1978.38	2117.12	0	0	0	30.00	30.00	30.00
2625.96	8486	150.93	0.97	80.00	2408.3	2470.8	2345.9	1978.7	2117.6	116.18	9.57	351	2638.34	4.89	0.00	3.70	0.584	0.000	0.109	2397.72	2460.19	2335.25	1978.88	3617.19	0	0	0	11.63	30.00	15.85
2696.93	1156	150.93	0.89	0.00	2396.4	2457.8	2335.0	1978.7	3616.1	108.33	11.37	365	2703.04	0.00	0.00	3.42	0.000	0.000	0.046	2395.47	2457.50	2333.44	1978.38	2120.25	0	0	0	30.00	30.00	15.91
2886.90	8486	160.89	0.90	80.00	2396.8	2458.2	2335.4	1978.6	2119.8	90.34	9.25	385	2904.91	10.40	0.00	3.66	0.869	0.000	0.109	2357.41	2422.44	2292.38	1978.31	3617.00	0	0	0	11.80	30.00	15.91
2933.46	1156	160.89	0.85	0.00	2355.6	2419.4	2291.7	1978.1	3616.9	85.64	10.35	394	2939.54	0.00	0.00	3.40	0.000	0.000	0.046	2357.69	2421.19	2294.19	1978.88	2117.56	0	0	0	30.00	30.00	15.94
3126.47	8486	176.10	0.87	80.00	2355.4	2419.3	2291.6	1978.1	2117.2	67.52	9.01	415	3154.70	14.15	0.00	3.67	0.914	0.000	0.109	2295.00	2363.38	2226.62	1978.62	3619.19	0	0	0	11.89	30.00	15.93
3177.52	5253	176.10	0.84	0.00	2293.0	2359.3	2226.6	1978.6	3619.9	62.37	10.41	424	3185.33	0.00	0.20	3.40	0.000	0.187	0.048	2293.78	2360.25	2227.31	1946.62	2117.25	0	0	0	30.00	15.89	15.97
3368.32	10403	230.40	1.01	0.00	2292.6	2358.8	2226.5	1945.9	2117.8	47.56	7.26	446	3415.91	42.20	0.35	0.00	0.963	0.079	0.000	2073.28	2157.38	1989.19	1999.69	2117.50	0	0	0	11.95	16.01	30.00
3599.47	388	230.40	1.05	80.00	2068.8	2148.4	1989.2	1999.1	2117.4	24.35	10.41	492	3606.43	0.00	0.00	3.67	0.000	0.000	0.109	2070.22	2149.00	1991.44	2000.56	3616.94	0	0	0	30.00	30.00	15.93
3649.90	1028	230.40	1.05	0.00	2067.2	2145.2	1989.2	2000.4	3616.6	18.33	12.17	502	3656.85	0.00	0.00	3.41	0.000	0.000	0.048	2067.53	2145.69	1989.38	2000.06	2119.00	0	0	0	30.00	30.00	15.98
3838.93	10919	338.55	1.39	-80.00	2066.9	2144.9	1988.9	2000.8	2118.6	4.61	4.84	539	3897.32	54.26	0.53	0.00	0.918	0.077	0.000	1778.31	1880.75	1675.88	2091.50	2118.12	0	0	0	11.85	15.99	30.00
3898	end climb: SURFACE_DEPTH_REACHED
state	3898	begin surface coast
3946	end surface coast: CONTROL_FINISHED_OK
state	3946	begin surface