Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 3 * 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 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 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 3048.7793 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 1748.4614 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 18.41692 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.614605 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 28.244173 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 19.614605 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.244173 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 18.41692 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 1748.4614 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 3048.7793 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 3 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 250522,043801,4736.648,-12256.636,33,1.2,34,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,044119,4736.691,-12256.587,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 190.0,1380,-17.1,-9.697,-20.82,2278,0.124

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.284180,-1341.481079,-215.504608

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653456915,61.8,0,stop FG_AHR_10Vo 19.641

FREEZE 3.97,12.930,-1.489,0,1,0 MEM0 60132,1,0,0

SM_CCo 4226.27,218.57,0.892,0,500.5,570.0,431.1,624.89 MEM1 65508,1,0,0

SM_GC 1.51,0.00,12.11,0.09,0.000,0.077,0.137,497.1,569.9,424.4,194.8,2181.5,0,0,0,30.00,15.58,15.60 MEM2 944652,29,102096,62

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16159,568

IRIDIUM_FIX 4738.80,-12300.63,250522,032318 CAP_FILE_SIZE 376477,0

TCM_TEMP 13.01 SDSIZE 3887104,3870304

SC_FREEKB 3877824 SDFILEDIR 76,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 SOUNDSPEED 1465.0

HUMID 49.09 CURRENT 0.029,199.0,1

TEMP 10.83 MAGCAL 1.000000,0.012290,-0.073561,0.000046,1.107276,-0.074611,0.022116,-0.052462,1.103484,525.1,-1299.0,-230.0,25,0.0287,0

INTERNAL_PRESSURE 8.11919 IMPLIED_C_PITCH 1751,18.38,308,1749.9,18.40

_24V_AH 14.96,8.214 IMPLIED_C_VBD 3044,29.912647,308,3046.3

_10V_AH 15.00,0.000 GPS 250522,055431,4736.233,-12256.933,3,1.0,6,15.5

FG_AHR_24Vo 28.412

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 702 1077 11322.27 nil 0 0 0.00

Pitch_motor 29 274 119.88 nil 0 0 0.00

Roll_motor 63 172 163.35 nil 0 0 0.00

Iridium 131 210 413.40 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2386 5 183.28 SciCon 4003 6 411.37

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1896 0 9.10

Compass 1151 5 86.34

RAFOS 856 40 513.69

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

6.68 16386 -146.63 -1.11 0.00 495.4 571.3 419.6 202.7 2188.2 0.00 0.00 0 81.40 71.18 0.00 0.00 0.005 0.000 0.000 2192.62 2157.38 2227.88 202.50 2188.88 0 0 0 15.49 30.00 30.00

81.70 18467 -146.63 -1.11 0.00 2192.2 2157.4 2226.9 202.6 2188.1 3.03 -2.38 13 151.52 49.59 10.30 0.00 0.005 0.274 0.000 3644.69 3636.06 3653.31 1478.62 2188.19 0 0 0 15.94 15.75 30.00

335.01 2469 -146.63 -1.00 80.00 3646.1 3640.4 3651.8 1478.6 2188.1 24.65 -8.91 63 341.79 0.00 0.19 3.43 0.000 0.194 0.104 3646.81 3640.88 3652.75 1506.25 3618.31 0 0 0 30.00 15.90 15.95

450.27 3205 -146.63 -0.87 0.00 3646.2 3640.5 3651.9 1506.8 3618.1 36.36 -10.66 86 457.11 0.00 0.22 3.38 0.000 0.180 0.047 3646.53 3640.81 3652.25 1539.00 2115.00 0 0 0 30.00 15.95 16.00

641.83 160 -146.63 -0.91 0.00 3647.2 3642.4 3652.0 1538.8 2114.7 50.25 -7.21 124 642.44 0.00 0.00 0.00 0.000 0.000 0.000 3646.22 3641.81 3650.62 1539.06 2114.94 0 0 0 30.00 30.00 30.00

831.86 160 -146.63 -0.95 0.00 3647.6 3643.1 3652.1 1539.2 2115.0 64.42 -7.39 143 833.43 0.00 0.00 0.00 0.000 0.000 0.000 3647.16 3643.25 3651.06 1538.94 2114.69 0 0 0 30.00 30.00 30.00

1021.89 4517 -146.63 -0.99 80.00 3647.9 3644.2 3651.6 1538.6 2115.1 78.57 -7.55 162 1029.12 0.00 0.29 3.61 0.000 0.086 0.105 3647.28 3643.69 3650.88 1493.62 3619.25 0 0 0 30.00 16.08 16.07

1066.37 3205 -146.63 -0.84 0.00 3648.1 3644.1 3652.1 1494.4 3618.8 83.42 -11.43 169 1073.61 0.00 0.42 3.38 0.000 0.174 0.045 3647.34 3643.62 3651.06 1546.88 2116.31 0 0 0 30.00 16.04 16.08

1261.43 160 -146.63 -0.89 0.00 3648.6 3645.4 3651.7 1546.0 2115.4 98.62 -7.55 189 1262.99 0.00 0.00 0.00 0.000 0.000 0.000 3648.22 3644.50 3651.94 1546.62 2116.19 0 0 0 30.00 30.00 30.00

1451.47 4517 -146.63 -0.95 80.00 3648.8 3645.4 3652.2 1547.0 2116.2 112.99 -7.51 208 1458.66 0.00 0.26 3.60 0.000 0.089 0.105 3648.56 3645.19 3651.94 1503.38 3618.25 0 0 0 30.00 16.07 16.06

1491.41 3205 -146.63 -0.84 0.00 3648.3 3645.1 3651.5 1502.5 3618.9 117.18 -10.72 216 1499.05 0.00 0.35 3.37 0.000 0.174 0.047 3648.75 3645.81 3651.69 1546.69 2115.69 0 0 0 30.00 16.04 16.09

1687.94 420 -146.63 -0.91 80.00 3648.5 3645.2 3651.9 1546.2 2115.6 132.82 -7.84 236 1694.21 0.00 0.00 3.60 0.000 0.000 0.105 3647.88 3644.75 3651.00 1546.44 3617.81 0 0 0 30.00 30.00 16.09

1707.00 5285 -146.63 -0.95 0.00 3648.5 3645.1 3651.9 1546.0 3617.2 134.54 -7.99 240 1714.56 0.00 0.26 3.38 0.000 0.089 0.047 3648.62 3645.50 3651.75 1503.75 2114.69 0 0 0 30.00 16.10 16.12

1902.66 32 -146.63 -0.95 0.00 3648.4 3645.3 3651.4 1503.7 2113.5 153.15 -9.59 260 1904.34 0.00 0.00 0.00 0.000 0.000 0.000 3647.81 3645.00 3650.62 1504.25 2114.06 0 0 0 30.00 30.00 30.00

1983 end dive: TARGET_DEPTH_EXCEEDED

state 1983 begin apogee

1983.98 10243 0.00 -0.27 0.00 3648.6 3645.2 3651.9 1504.4 2183.9 160.81 -9.56 268 2104.18 111.97 1.30 0.10 1.077 0.155 0.173 3047.31 3101.62 2993.00 1681.88 2111.12 0 0 0 11.90 16.10 15.76

2105 end apogee: CONTROL_FINISHED_OK

state 2105 begin climb

2105.26 10759 146.63 1.11 -80.00 3047.2 3101.6 2992.8 1683.8 2109.9 164.28 0.00 279 2238.39 115.56 2.28 3.57 1.038 0.118 0.115 2449.69 2517.75 2381.62 2018.44 681.75 0 0 0 11.65 15.75 15.53

2251.13 5253 146.63 0.92 0.00 2447.3 2514.2 2380.5 2019.6 682.1 153.23 12.28 306 2258.85 0.00 0.45 3.45 0.000 0.186 0.047 2448.62 2515.31 2381.94 1965.19 2175.50 0 0 0 30.00 15.55 15.62

2440.83 8486 154.76 0.93 80.00 2443.7 2507.0 2380.3 1965.2 2175.4 134.74 9.33 326 2457.45 8.06 0.00 3.54 0.801 0.000 0.110 2418.06 2484.12 2352.00 1965.19 3618.12 0 0 0 11.73 30.00 15.77

2505.20 1156 154.76 0.85 0.00 2414.5 2479.5 2349.6 1965.9 3617.3 127.71 11.56 339 2512.61 0.00 0.00 3.43 0.000 0.000 0.046 2414.97 2479.38 2350.56 1965.19 2119.38 0 0 0 30.00 30.00 15.84

2700.89 8226 158.70 0.86 0.00 2414.5 2479.2 2349.8 1965.5 2118.6 109.24 9.52 359 2710.82 5.57 0.00 0.00 0.652 0.000 0.000 2400.50 2464.94 2336.06 1963.81 2118.31 0 0 0 11.67 30.00 30.00

2895.16 8486 178.30 0.88 80.00 2400.0 2464.3 2335.7 1965.2 2117.8 91.57 8.82 378 2922.22 17.68 0.00 3.66 0.947 0.000 0.110 2320.00 2390.50 2249.50 1965.38 3618.19 0 0 0 11.85 30.00 15.88

2975.62 1028 178.30 0.88 0.00 2318.0 2386.7 2249.3 1964.9 3617.6 83.23 11.07 394 2981.65 0.00 0.00 3.41 0.000 0.000 0.047 2319.84 2388.44 2251.25 1964.81 2118.69 0 0 0 30.00 30.00 15.93

3165.74 8614 191.20 0.95 80.00 2317.4 2385.7 2249.2 1965.2 2118.9 65.83 9.12 414 3188.20 12.12 0.00 3.66 0.883 0.000 0.110 2267.75 2339.12 2196.38 1965.44 3616.69 0 0 0 11.78 30.00 15.90

3226.58 1028 191.20 0.95 0.00 2265.8 2335.2 2196.3 1965.2 3616.1 59.56 10.89 426 3232.57 0.00 0.00 3.40 0.000 0.000 0.047 2265.03 2335.06 2195.00 1965.50 2118.00 0 0 0 30.00 30.00 15.95

3416.72 10403 205.14 1.04 0.00 2265.4 2334.6 2196.1 1965.5 2118.2 41.89 9.07 454 3432.46 12.67 0.26 0.00 0.876 0.087 0.000 2210.72 2284.38 2137.06 2007.25 2118.62 0 0 0 11.82 15.99 30.00

3616.70 260 205.14 1.04 80.00 2209.0 2281.6 2136.4 2007.0 2118.3 21.57 10.53 493 3627.13 0.00 0.00 3.65 0.000 0.000 0.109 2208.34 2280.25 2136.44 2007.81 3616.56 0 0 0 30.00 30.00 15.98

3720.61 1156 205.14 0.98 0.00 2207.6 2278.8 2136.4 2007.3 3616.6 10.04 9.82 514 3727.24 0.00 0.00 3.37 0.000 0.000 0.047 2208.19 2279.50 2136.88 2008.19 2118.06 0 0 0 30.00 30.00 16.03

3910.72 10919 384.99 1.41 -80.00 2207.7 2278.8 2136.6 2007.8 2118.0 4.31 1.62 552 3995.12 79.61 0.51 0.00 0.934 0.078 0.000 1774.66 1881.81 1667.50 2097.50 2118.12 0 0 0 11.73 16.06 30.00

3995 end climb: NO_VERTICAL_VELOCITY

state 3996 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	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	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	3048.7793	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	1748.4614	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	18.41692	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.614605	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	28.244173	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	250522,043801,4736.648,-12256.636,33,1.2,34,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,044119,4736.691,-12256.587,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	190.0,1380,-17.1,-9.697,-20.82,2278,0.124
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.284180,-1341.481079,-215.504608
TGT_LATLONG	4736.000,-12257.000

NAV	1653456915,61.8,0,stop	FG_AHR_10Vo	19.641
FREEZE	3.97,12.930,-1.489,0,1,0	MEM0	60132,1,0,0
SM_CCo	4226.27,218.57,0.892,0,500.5,570.0,431.1,624.89	MEM1	65508,1,0,0
SM_GC	1.51,0.00,12.11,0.09,0.000,0.077,0.137,497.1,569.9,424.4,194.8,2181.5,0,0,0,30.00,15.58,15.60	MEM2	944652,29,102096,62
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16159,568
IRIDIUM_FIX	4738.80,-12300.63,250522,032318	CAP_FILE_SIZE	376477,0
TCM_TEMP	13.01	SDSIZE	3887104,3870304
SC_FREEKB	3877824	SDFILEDIR	76,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	SOUNDSPEED	1465.0
HUMID	49.09	CURRENT	0.029,199.0,1
TEMP	10.83	MAGCAL	1.000000,0.012290,-0.073561,0.000046,1.107276,-0.074611,0.022116,-0.052462,1.103484,525.1,-1299.0,-230.0,25,0.0287,0
INTERNAL_PRESSURE	8.11919	IMPLIED_C_PITCH	1751,18.38,308,1749.9,18.40
_24V_AH	14.96,8.214	IMPLIED_C_VBD	3044,29.912647,308,3046.3
_10V_AH	15.00,0.000	GPS	250522,055431,4736.233,-12256.933,3,1.0,6,15.5
FG_AHR_24Vo	28.412

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	702	1077	11322.27	nil	0	0	0.00
Pitch_motor	29	274	119.88	nil	0	0	0.00
Roll_motor	63	172	163.35	nil	0	0	0.00
Iridium	131	210	413.40	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2386	5	183.28	SciCon	4003	6	411.37
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1896	0	9.10
Compass	1151	5	86.34
RAFOS	856	40	513.69
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
6.68	16386	-146.63	-1.11	0.00	495.4	571.3	419.6	202.7	2188.2	0.00	0.00	0	81.40	71.18	0.00	0.00	0.005	0.000	0.000	2192.62	2157.38	2227.88	202.50	2188.88	0	0	0	15.49	30.00	30.00
81.70	18467	-146.63	-1.11	0.00	2192.2	2157.4	2226.9	202.6	2188.1	3.03	-2.38	13	151.52	49.59	10.30	0.00	0.005	0.274	0.000	3644.69	3636.06	3653.31	1478.62	2188.19	0	0	0	15.94	15.75	30.00
335.01	2469	-146.63	-1.00	80.00	3646.1	3640.4	3651.8	1478.6	2188.1	24.65	-8.91	63	341.79	0.00	0.19	3.43	0.000	0.194	0.104	3646.81	3640.88	3652.75	1506.25	3618.31	0	0	0	30.00	15.90	15.95
450.27	3205	-146.63	-0.87	0.00	3646.2	3640.5	3651.9	1506.8	3618.1	36.36	-10.66	86	457.11	0.00	0.22	3.38	0.000	0.180	0.047	3646.53	3640.81	3652.25	1539.00	2115.00	0	0	0	30.00	15.95	16.00
641.83	160	-146.63	-0.91	0.00	3647.2	3642.4	3652.0	1538.8	2114.7	50.25	-7.21	124	642.44	0.00	0.00	0.00	0.000	0.000	0.000	3646.22	3641.81	3650.62	1539.06	2114.94	0	0	0	30.00	30.00	30.00
831.86	160	-146.63	-0.95	0.00	3647.6	3643.1	3652.1	1539.2	2115.0	64.42	-7.39	143	833.43	0.00	0.00	0.00	0.000	0.000	0.000	3647.16	3643.25	3651.06	1538.94	2114.69	0	0	0	30.00	30.00	30.00
1021.89	4517	-146.63	-0.99	80.00	3647.9	3644.2	3651.6	1538.6	2115.1	78.57	-7.55	162	1029.12	0.00	0.29	3.61	0.000	0.086	0.105	3647.28	3643.69	3650.88	1493.62	3619.25	0	0	0	30.00	16.08	16.07
1066.37	3205	-146.63	-0.84	0.00	3648.1	3644.1	3652.1	1494.4	3618.8	83.42	-11.43	169	1073.61	0.00	0.42	3.38	0.000	0.174	0.045	3647.34	3643.62	3651.06	1546.88	2116.31	0	0	0	30.00	16.04	16.08
1261.43	160	-146.63	-0.89	0.00	3648.6	3645.4	3651.7	1546.0	2115.4	98.62	-7.55	189	1262.99	0.00	0.00	0.00	0.000	0.000	0.000	3648.22	3644.50	3651.94	1546.62	2116.19	0	0	0	30.00	30.00	30.00
1451.47	4517	-146.63	-0.95	80.00	3648.8	3645.4	3652.2	1547.0	2116.2	112.99	-7.51	208	1458.66	0.00	0.26	3.60	0.000	0.089	0.105	3648.56	3645.19	3651.94	1503.38	3618.25	0	0	0	30.00	16.07	16.06
1491.41	3205	-146.63	-0.84	0.00	3648.3	3645.1	3651.5	1502.5	3618.9	117.18	-10.72	216	1499.05	0.00	0.35	3.37	0.000	0.174	0.047	3648.75	3645.81	3651.69	1546.69	2115.69	0	0	0	30.00	16.04	16.09
1687.94	420	-146.63	-0.91	80.00	3648.5	3645.2	3651.9	1546.2	2115.6	132.82	-7.84	236	1694.21	0.00	0.00	3.60	0.000	0.000	0.105	3647.88	3644.75	3651.00	1546.44	3617.81	0	0	0	30.00	30.00	16.09
1707.00	5285	-146.63	-0.95	0.00	3648.5	3645.1	3651.9	1546.0	3617.2	134.54	-7.99	240	1714.56	0.00	0.26	3.38	0.000	0.089	0.047	3648.62	3645.50	3651.75	1503.75	2114.69	0	0	0	30.00	16.10	16.12
1902.66	32	-146.63	-0.95	0.00	3648.4	3645.3	3651.4	1503.7	2113.5	153.15	-9.59	260	1904.34	0.00	0.00	0.00	0.000	0.000	0.000	3647.81	3645.00	3650.62	1504.25	2114.06	0	0	0	30.00	30.00	30.00
1983	end dive: TARGET_DEPTH_EXCEEDED
state	1983	begin apogee
1983.98	10243	0.00	-0.27	0.00	3648.6	3645.2	3651.9	1504.4	2183.9	160.81	-9.56	268	2104.18	111.97	1.30	0.10	1.077	0.155	0.173	3047.31	3101.62	2993.00	1681.88	2111.12	0	0	0	11.90	16.10	15.76
2105	end apogee: CONTROL_FINISHED_OK
state	2105	begin climb
2105.26	10759	146.63	1.11	-80.00	3047.2	3101.6	2992.8	1683.8	2109.9	164.28	0.00	279	2238.39	115.56	2.28	3.57	1.038	0.118	0.115	2449.69	2517.75	2381.62	2018.44	681.75	0	0	0	11.65	15.75	15.53
2251.13	5253	146.63	0.92	0.00	2447.3	2514.2	2380.5	2019.6	682.1	153.23	12.28	306	2258.85	0.00	0.45	3.45	0.000	0.186	0.047	2448.62	2515.31	2381.94	1965.19	2175.50	0	0	0	30.00	15.55	15.62
2440.83	8486	154.76	0.93	80.00	2443.7	2507.0	2380.3	1965.2	2175.4	134.74	9.33	326	2457.45	8.06	0.00	3.54	0.801	0.000	0.110	2418.06	2484.12	2352.00	1965.19	3618.12	0	0	0	11.73	30.00	15.77
2505.20	1156	154.76	0.85	0.00	2414.5	2479.5	2349.6	1965.9	3617.3	127.71	11.56	339	2512.61	0.00	0.00	3.43	0.000	0.000	0.046	2414.97	2479.38	2350.56	1965.19	2119.38	0	0	0	30.00	30.00	15.84
2700.89	8226	158.70	0.86	0.00	2414.5	2479.2	2349.8	1965.5	2118.6	109.24	9.52	359	2710.82	5.57	0.00	0.00	0.652	0.000	0.000	2400.50	2464.94	2336.06	1963.81	2118.31	0	0	0	11.67	30.00	30.00
2895.16	8486	178.30	0.88	80.00	2400.0	2464.3	2335.7	1965.2	2117.8	91.57	8.82	378	2922.22	17.68	0.00	3.66	0.947	0.000	0.110	2320.00	2390.50	2249.50	1965.38	3618.19	0	0	0	11.85	30.00	15.88
2975.62	1028	178.30	0.88	0.00	2318.0	2386.7	2249.3	1964.9	3617.6	83.23	11.07	394	2981.65	0.00	0.00	3.41	0.000	0.000	0.047	2319.84	2388.44	2251.25	1964.81	2118.69	0	0	0	30.00	30.00	15.93
3165.74	8614	191.20	0.95	80.00	2317.4	2385.7	2249.2	1965.2	2118.9	65.83	9.12	414	3188.20	12.12	0.00	3.66	0.883	0.000	0.110	2267.75	2339.12	2196.38	1965.44	3616.69	0	0	0	11.78	30.00	15.90
3226.58	1028	191.20	0.95	0.00	2265.8	2335.2	2196.3	1965.2	3616.1	59.56	10.89	426	3232.57	0.00	0.00	3.40	0.000	0.000	0.047	2265.03	2335.06	2195.00	1965.50	2118.00	0	0	0	30.00	30.00	15.95
3416.72	10403	205.14	1.04	0.00	2265.4	2334.6	2196.1	1965.5	2118.2	41.89	9.07	454	3432.46	12.67	0.26	0.00	0.876	0.087	0.000	2210.72	2284.38	2137.06	2007.25	2118.62	0	0	0	11.82	15.99	30.00
3616.70	260	205.14	1.04	80.00	2209.0	2281.6	2136.4	2007.0	2118.3	21.57	10.53	493	3627.13	0.00	0.00	3.65	0.000	0.000	0.109	2208.34	2280.25	2136.44	2007.81	3616.56	0	0	0	30.00	30.00	15.98
3720.61	1156	205.14	0.98	0.00	2207.6	2278.8	2136.4	2007.3	3616.6	10.04	9.82	514	3727.24	0.00	0.00	3.37	0.000	0.000	0.047	2208.19	2279.50	2136.88	2008.19	2118.06	0	0	0	30.00	30.00	16.03
3910.72	10919	384.99	1.41	-80.00	2207.7	2278.8	2136.6	2007.8	2118.0	4.31	1.62	552	3995.12	79.61	0.51	0.00	0.934	0.078	0.000	1774.66	1881.81	1667.50	2097.50	2118.12	0	0	0	11.73	16.06	30.00
3995	end climb: NO_VERTICAL_VELOCITY
state	3996	begin surface