Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 6 * 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 6 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 3027.9546 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 1751.0608 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 18.573673 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.674698 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 28.757795 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 19.674698 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.757795 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 18.573673 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 1751.0608 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 3027.9546 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 6 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 250522,080925,4736.299,-12256.878,31,1.1,32,15.5 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,081439,4736.337,-12256.839,3,0.8,5,15.5 MHEAD_RNG_PITCHd_Wd 10.1,1344,-17.1,-9.697,-20.82,2278,0.130

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,0.016169,0.059645,-0.000505,1.080836,-0.059728,-0.006817,-0.049891,1.078700,411.696289,-1311.271729,-255.060104

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

FINISH 1.7,1.019611 FG_AHR_10Vo 19.693

SM_CCo 4206.73,131.32,0.886,0,534.9,601.5,468.3,611.31 MEM0 60132,1,0,0

SM_GC 1.24,131.32,12.69,0.10,0.886,0.090,0.128,534.9,601.5,468.3,197.2,2111.7,0,0,0,11.67,15.66,15.69 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944636,30,102092,62

IRIDIUM_FIX 4736.00,-12258.89,250522,081035 DATA_FILE_SIZE 16143,576

TCM_TEMP 12.90 CAP_FILE_SIZE 380328,0

SC_FREEKB 3876864 SDSIZE 3887104,3869440

RAFOS_CLK -5 SDFILEDIR 97,1

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 49.00 SOUNDSPEED 1465.0

TEMP 10.37 CURRENT 0.034, 61.5,1

INTERNAL_PRESSURE 8.09956 MAGCAL 1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.7,-1310.3,-201.1,33,0.0258,1

_24V_AH 14.82,8.733 IMPLIED_C_PITCH 1751,18.27,308,1751.0,18.42

_10V_AH 14.87,0.000 IMPLIED_C_VBD 3035,35.917408,308,3031.6

FG_AHR_24Vo 28.921 GPS 250522,092542,4736.783,-12256.501,3,1.3,6,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 691 1076 11037.42 nil 0 0 0.00

Pitch_motor 30 287 128.10 nil 0 0 0.00

Roll_motor 70 172 180.99 nil 0 0 0.00

Iridium 186 209 579.35 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 2486 5 189.33 SciCon 4052 6 416.11

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1868 0 8.89

Compass 1168 5 86.91

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

6.67 16386 -146.63 -1.10 0.00 493.1 569.6 416.7 199.8 2187.5 0.00 0.00 0 86.78 76.37 0.00 0.00 0.005 0.000 0.000 2295.44 2260.44 2330.44 199.81 2188.38 0 0 0 15.92 30.00 30.00

87.07 18983 -146.63 -1.10 -80.00 2293.5 2258.8 2328.1 199.8 2188.1 3.27 -2.77 15 153.69 41.11 10.53 3.62 0.005 0.287 0.105 3624.56 3617.62 3631.50 1483.81 679.75 0 0 0 15.95 15.77 15.88

382.21 3205 -146.63 -0.94 0.00 3625.8 3622.6 3628.9 1483.9 679.4 32.55 -10.08 73 389.08 0.00 0.28 3.42 0.000 0.187 0.046 3626.25 3623.06 3629.44 1523.12 2181.56 0 0 0 30.00 15.92 15.98

570.74 32 -146.63 -0.94 0.00 3626.3 3623.9 3628.6 1524.1 2181.4 45.73 -6.94 110 575.26 0.00 0.00 0.00 0.000 0.000 0.000 3625.97 3623.62 3628.31 1523.12 2180.94 0 0 0 30.00 30.00 30.00

755.75 292 -146.63 -0.94 80.00 3626.3 3624.5 3628.1 1523.5 2181.1 59.19 -7.37 135 761.73 0.00 0.00 3.47 0.000 0.000 0.107 3625.78 3623.88 3627.69 1523.38 3620.81 0 0 0 30.00 30.00 16.03

800.13 1188 -146.63 -0.87 0.00 3625.9 3623.9 3628.0 1523.1 3620.5 63.28 -9.25 144 807.42 0.00 0.00 3.39 0.000 0.000 0.045 3626.91 3624.50 3629.31 1523.62 2116.19 0 0 0 30.00 30.00 16.06

992.86 32 -146.63 -0.87 0.00 3626.3 3624.6 3628.1 1523.6 2116.2 79.04 -8.32 164 994.47 0.00 0.00 0.00 0.000 0.000 0.000 3625.97 3623.94 3628.00 1523.12 2116.12 0 0 0 30.00 30.00 30.00

1182.88 292 -146.63 -0.87 80.00 3626.4 3624.6 3628.2 1523.2 2115.9 95.04 -8.13 183 1190.19 0.00 0.00 3.62 0.000 0.000 0.104 3625.97 3624.31 3627.62 1523.69 3618.44 0 0 0 30.00 30.00 16.08

1248.78 3205 -146.63 -0.83 0.00 3626.7 3625.2 3628.2 1523.4 3618.2 101.45 -9.87 196 1256.07 0.00 0.19 3.39 0.000 0.180 0.047 3625.81 3624.31 3627.31 1552.56 2115.06 0 0 0 30.00 16.05 16.11

1443.86 160 -146.63 -0.90 0.00 3627.0 3625.4 3628.5 1552.6 2115.1 116.34 -7.75 216 1445.46 0.00 0.00 0.00 0.000 0.000 0.000 3626.03 3624.62 3627.44 1552.94 2114.25 0 0 0 30.00 30.00 30.00

1632.79 4517 -146.63 -0.98 80.00 3626.9 3625.4 3628.4 1552.6 2115.2 131.15 -7.50 235 1640.38 0.00 0.34 3.61 0.000 0.083 0.105 3628.75 3626.75 3630.75 1500.69 3618.88 0 0 0 30.00 16.10 16.10

1683.22 3205 -146.63 -0.86 0.00 3626.6 3625.2 3628.0 1500.8 3619.1 136.65 -11.26 245 1691.04 0.00 0.36 3.39 0.000 0.175 0.048 3628.00 3626.25 3629.75 1545.19 2116.00 0 0 0 30.00 16.08 16.14

1879.03 160 -146.63 -0.92 0.00 3627.2 3625.9 3628.5 1544.9 2116.3 152.06 -8.01 265 1880.63 0.00 0.00 0.00 0.000 0.000 0.000 3626.06 3624.75 3627.38 1544.81 2116.00 0 0 0 30.00 30.00 30.00

1989 end dive: TARGET_DEPTH_EXCEEDED

state 1989 begin apogee

1990.28 10243 0.00 -0.27 0.00 3626.9 3625.8 3627.9 1545.1 2184.8 160.23 -7.42 276 2110.13 111.38 0.97 0.11 1.077 0.149 0.173 3026.47 3079.75 2973.19 1686.69 2110.12 0 0 0 11.98 16.09 15.77

2111 end apogee: CONTROL_FINISHED_OK

state 2111 begin climb

2111.25 10759 146.63 1.10 -80.00 3025.2 3078.6 2971.8 1686.2 2110.2 163.65 0.00 288 2246.17 115.47 2.28 3.62 1.035 0.119 0.114 2428.72 2496.19 2361.25 2020.31 681.94 0 0 0 11.71 15.76 15.51

2249.09 5253 146.63 0.93 0.00 2426.2 2492.5 2360.0 2020.0 682.1 153.42 10.57 307 2256.95 0.00 0.41 3.47 0.000 0.191 0.047 2427.16 2493.44 2360.88 1972.62 2174.69 0 0 0 30.00 15.54 15.60

2444.69 8486 154.98 0.95 80.00 2422.3 2485.3 2359.4 1971.8 2175.0 134.89 9.32 327 2461.48 8.16 0.00 3.54 0.798 0.000 0.111 2394.53 2459.75 2329.31 1972.31 3616.19 0 0 0 11.68 30.00 15.75

2505.04 1156 154.98 0.86 0.00 2393.0 2457.2 2328.8 1972.1 3616.4 128.36 11.43 339 2511.16 0.00 0.00 3.44 0.000 0.000 0.046 2393.69 2457.50 2329.88 1972.12 2119.12 0 0 0 30.00 30.00 15.82

2692.02 8486 158.54 0.86 80.00 2393.3 2457.6 2329.1 1971.8 2118.8 110.45 9.54 359 2704.57 5.38 0.00 3.67 0.633 0.000 0.111 2377.91 2442.56 2313.25 1971.88 3617.44 0 0 0 11.91 30.00 15.87

2737.41 5253 158.54 0.80 0.00 2378.6 2442.4 2314.7 1971.4 3617.6 105.60 10.83 368 2745.22 0.00 0.22 3.44 0.000 0.190 0.046 2379.53 2443.19 2315.88 1937.38 2119.00 0 0 0 30.00 15.84 15.92

2933.20 10663 199.95 0.94 80.00 2378.5 2442.1 2314.8 1937.2 2117.9 89.57 7.84 388 2977.44 34.40 0.31 3.67 0.986 0.081 0.110 2210.28 2285.31 2135.25 1987.00 3618.06 0 0 0 11.86 15.96 15.84

3026.01 5253 199.95 0.87 0.00 2208.1 2280.8 2135.3 1986.6 3617.8 79.45 12.42 406 3033.42 0.00 0.25 3.45 0.000 0.179 0.047 2208.69 2281.25 2136.12 1956.06 2119.12 0 0 0 30.00 15.84 15.90

3221.08 10403 213.67 0.99 0.00 2207.1 2279.1 2135.1 1955.9 2118.4 61.05 9.08 426 3235.93 12.43 0.26 0.00 0.878 0.086 0.000 2155.69 2231.75 2079.62 1997.25 2118.75 0 0 0 11.84 15.96 30.00

3419.77 260 213.67 0.99 80.00 2152.8 2226.5 2079.2 1996.5 2119.2 40.79 10.79 454 3430.47 0.00 0.00 3.65 0.000 0.000 0.109 2152.84 2226.12 2079.56 1997.31 3618.31 0 0 0 30.00 30.00 15.94

3479.03 1156 213.67 0.93 0.00 2151.8 2224.6 2078.9 1996.7 3618.0 32.83 12.57 466 3485.91 0.00 0.00 3.42 0.000 0.000 0.047 2152.81 2225.19 2080.44 1997.19 2118.88 0 0 0 30.00 30.00 15.99

3669.51 8354 222.56 0.99 0.00 2151.7 2224.1 2079.3 1996.8 2118.6 13.67 9.30 504 3679.88 8.99 0.00 0.00 0.793 0.000 0.000 2118.09 2193.44 2042.75 1996.94 2118.44 0 0 0 11.73 30.00 30.00

3864.58 10919 377.82 1.35 -80.00 2117.0 2190.6 2043.3 1997.2 2118.2 4.66 2.72 543 3993.24 113.01 0.50 3.56 0.925 0.077 0.111 1486.56 1598.12 1375.00 2084.56 678.31 0 0 0 11.86 16.03 15.72

3996.95 11431 566.01 1.70 0.00 1484.8 1595.6 1373.9 2084.2 679.1 2.72 1.24 568 4039.12 33.56 0.51 3.47 0.872 0.074 0.047 1305.53 1419.50 1191.56 2170.44 2181.50 0 0 0 11.65 15.75 15.77

4039 end climb: SURFACE_DEPTH_REACHED

state 4040 begin surface coast

4043 end surface coast: CONTROL_FINISHED_OK

state 4043 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	6	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	3027.9546	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	1751.0608	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	18.573673	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.674698	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	28.757795	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	250522,080925,4736.299,-12256.878,31,1.1,32,15.5	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,081439,4736.337,-12256.839,3,0.8,5,15.5	MHEAD_RNG_PITCHd_Wd	10.1,1344,-17.1,-9.697,-20.82,2278,0.130
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,0.016169,0.059645,-0.000505,1.080836,-0.059728,-0.006817,-0.049891,1.078700,411.696289,-1311.271729,-255.060104
TGT_LATLONG	4737.000,-12256.400

FINISH	1.7,1.019611	FG_AHR_10Vo	19.693
SM_CCo	4206.73,131.32,0.886,0,534.9,601.5,468.3,611.31	MEM0	60132,1,0,0
SM_GC	1.24,131.32,12.69,0.10,0.886,0.090,0.128,534.9,601.5,468.3,197.2,2111.7,0,0,0,11.67,15.66,15.69	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944636,30,102092,62
IRIDIUM_FIX	4736.00,-12258.89,250522,081035	DATA_FILE_SIZE	16143,576
TCM_TEMP	12.90	CAP_FILE_SIZE	380328,0
SC_FREEKB	3876864	SDSIZE	3887104,3869440
RAFOS_CLK	-5	SDFILEDIR	97,1
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	49.00	SOUNDSPEED	1465.0
TEMP	10.37	CURRENT	0.034, 61.5,1
INTERNAL_PRESSURE	8.09956	MAGCAL	1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.7,-1310.3,-201.1,33,0.0258,1
_24V_AH	14.82,8.733	IMPLIED_C_PITCH	1751,18.27,308,1751.0,18.42
_10V_AH	14.87,0.000	IMPLIED_C_VBD	3035,35.917408,308,3031.6
FG_AHR_24Vo	28.921	GPS	250522,092542,4736.783,-12256.501,3,1.3,6,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	691	1076	11037.42	nil	0	0	0.00
Pitch_motor	30	287	128.10	nil	0	0	0.00
Roll_motor	70	172	180.99	nil	0	0	0.00
Iridium	186	209	579.35	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	2486	5	189.33	SciCon	4052	6	416.11
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1868	0	8.89
Compass	1168	5	86.91
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
6.67	16386	-146.63	-1.10	0.00	493.1	569.6	416.7	199.8	2187.5	0.00	0.00	0	86.78	76.37	0.00	0.00	0.005	0.000	0.000	2295.44	2260.44	2330.44	199.81	2188.38	0	0	0	15.92	30.00	30.00
87.07	18983	-146.63	-1.10	-80.00	2293.5	2258.8	2328.1	199.8	2188.1	3.27	-2.77	15	153.69	41.11	10.53	3.62	0.005	0.287	0.105	3624.56	3617.62	3631.50	1483.81	679.75	0	0	0	15.95	15.77	15.88
382.21	3205	-146.63	-0.94	0.00	3625.8	3622.6	3628.9	1483.9	679.4	32.55	-10.08	73	389.08	0.00	0.28	3.42	0.000	0.187	0.046	3626.25	3623.06	3629.44	1523.12	2181.56	0	0	0	30.00	15.92	15.98
570.74	32	-146.63	-0.94	0.00	3626.3	3623.9	3628.6	1524.1	2181.4	45.73	-6.94	110	575.26	0.00	0.00	0.00	0.000	0.000	0.000	3625.97	3623.62	3628.31	1523.12	2180.94	0	0	0	30.00	30.00	30.00
755.75	292	-146.63	-0.94	80.00	3626.3	3624.5	3628.1	1523.5	2181.1	59.19	-7.37	135	761.73	0.00	0.00	3.47	0.000	0.000	0.107	3625.78	3623.88	3627.69	1523.38	3620.81	0	0	0	30.00	30.00	16.03
800.13	1188	-146.63	-0.87	0.00	3625.9	3623.9	3628.0	1523.1	3620.5	63.28	-9.25	144	807.42	0.00	0.00	3.39	0.000	0.000	0.045	3626.91	3624.50	3629.31	1523.62	2116.19	0	0	0	30.00	30.00	16.06
992.86	32	-146.63	-0.87	0.00	3626.3	3624.6	3628.1	1523.6	2116.2	79.04	-8.32	164	994.47	0.00	0.00	0.00	0.000	0.000	0.000	3625.97	3623.94	3628.00	1523.12	2116.12	0	0	0	30.00	30.00	30.00
1182.88	292	-146.63	-0.87	80.00	3626.4	3624.6	3628.2	1523.2	2115.9	95.04	-8.13	183	1190.19	0.00	0.00	3.62	0.000	0.000	0.104	3625.97	3624.31	3627.62	1523.69	3618.44	0	0	0	30.00	30.00	16.08
1248.78	3205	-146.63	-0.83	0.00	3626.7	3625.2	3628.2	1523.4	3618.2	101.45	-9.87	196	1256.07	0.00	0.19	3.39	0.000	0.180	0.047	3625.81	3624.31	3627.31	1552.56	2115.06	0	0	0	30.00	16.05	16.11
1443.86	160	-146.63	-0.90	0.00	3627.0	3625.4	3628.5	1552.6	2115.1	116.34	-7.75	216	1445.46	0.00	0.00	0.00	0.000	0.000	0.000	3626.03	3624.62	3627.44	1552.94	2114.25	0	0	0	30.00	30.00	30.00
1632.79	4517	-146.63	-0.98	80.00	3626.9	3625.4	3628.4	1552.6	2115.2	131.15	-7.50	235	1640.38	0.00	0.34	3.61	0.000	0.083	0.105	3628.75	3626.75	3630.75	1500.69	3618.88	0	0	0	30.00	16.10	16.10
1683.22	3205	-146.63	-0.86	0.00	3626.6	3625.2	3628.0	1500.8	3619.1	136.65	-11.26	245	1691.04	0.00	0.36	3.39	0.000	0.175	0.048	3628.00	3626.25	3629.75	1545.19	2116.00	0	0	0	30.00	16.08	16.14
1879.03	160	-146.63	-0.92	0.00	3627.2	3625.9	3628.5	1544.9	2116.3	152.06	-8.01	265	1880.63	0.00	0.00	0.00	0.000	0.000	0.000	3626.06	3624.75	3627.38	1544.81	2116.00	0	0	0	30.00	30.00	30.00
1989	end dive: TARGET_DEPTH_EXCEEDED
state	1989	begin apogee
1990.28	10243	0.00	-0.27	0.00	3626.9	3625.8	3627.9	1545.1	2184.8	160.23	-7.42	276	2110.13	111.38	0.97	0.11	1.077	0.149	0.173	3026.47	3079.75	2973.19	1686.69	2110.12	0	0	0	11.98	16.09	15.77
2111	end apogee: CONTROL_FINISHED_OK
state	2111	begin climb
2111.25	10759	146.63	1.10	-80.00	3025.2	3078.6	2971.8	1686.2	2110.2	163.65	0.00	288	2246.17	115.47	2.28	3.62	1.035	0.119	0.114	2428.72	2496.19	2361.25	2020.31	681.94	0	0	0	11.71	15.76	15.51
2249.09	5253	146.63	0.93	0.00	2426.2	2492.5	2360.0	2020.0	682.1	153.42	10.57	307	2256.95	0.00	0.41	3.47	0.000	0.191	0.047	2427.16	2493.44	2360.88	1972.62	2174.69	0	0	0	30.00	15.54	15.60
2444.69	8486	154.98	0.95	80.00	2422.3	2485.3	2359.4	1971.8	2175.0	134.89	9.32	327	2461.48	8.16	0.00	3.54	0.798	0.000	0.111	2394.53	2459.75	2329.31	1972.31	3616.19	0	0	0	11.68	30.00	15.75
2505.04	1156	154.98	0.86	0.00	2393.0	2457.2	2328.8	1972.1	3616.4	128.36	11.43	339	2511.16	0.00	0.00	3.44	0.000	0.000	0.046	2393.69	2457.50	2329.88	1972.12	2119.12	0	0	0	30.00	30.00	15.82
2692.02	8486	158.54	0.86	80.00	2393.3	2457.6	2329.1	1971.8	2118.8	110.45	9.54	359	2704.57	5.38	0.00	3.67	0.633	0.000	0.111	2377.91	2442.56	2313.25	1971.88	3617.44	0	0	0	11.91	30.00	15.87
2737.41	5253	158.54	0.80	0.00	2378.6	2442.4	2314.7	1971.4	3617.6	105.60	10.83	368	2745.22	0.00	0.22	3.44	0.000	0.190	0.046	2379.53	2443.19	2315.88	1937.38	2119.00	0	0	0	30.00	15.84	15.92
2933.20	10663	199.95	0.94	80.00	2378.5	2442.1	2314.8	1937.2	2117.9	89.57	7.84	388	2977.44	34.40	0.31	3.67	0.986	0.081	0.110	2210.28	2285.31	2135.25	1987.00	3618.06	0	0	0	11.86	15.96	15.84
3026.01	5253	199.95	0.87	0.00	2208.1	2280.8	2135.3	1986.6	3617.8	79.45	12.42	406	3033.42	0.00	0.25	3.45	0.000	0.179	0.047	2208.69	2281.25	2136.12	1956.06	2119.12	0	0	0	30.00	15.84	15.90
3221.08	10403	213.67	0.99	0.00	2207.1	2279.1	2135.1	1955.9	2118.4	61.05	9.08	426	3235.93	12.43	0.26	0.00	0.878	0.086	0.000	2155.69	2231.75	2079.62	1997.25	2118.75	0	0	0	11.84	15.96	30.00
3419.77	260	213.67	0.99	80.00	2152.8	2226.5	2079.2	1996.5	2119.2	40.79	10.79	454	3430.47	0.00	0.00	3.65	0.000	0.000	0.109	2152.84	2226.12	2079.56	1997.31	3618.31	0	0	0	30.00	30.00	15.94
3479.03	1156	213.67	0.93	0.00	2151.8	2224.6	2078.9	1996.7	3618.0	32.83	12.57	466	3485.91	0.00	0.00	3.42	0.000	0.000	0.047	2152.81	2225.19	2080.44	1997.19	2118.88	0	0	0	30.00	30.00	15.99
3669.51	8354	222.56	0.99	0.00	2151.7	2224.1	2079.3	1996.8	2118.6	13.67	9.30	504	3679.88	8.99	0.00	0.00	0.793	0.000	0.000	2118.09	2193.44	2042.75	1996.94	2118.44	0	0	0	11.73	30.00	30.00
3864.58	10919	377.82	1.35	-80.00	2117.0	2190.6	2043.3	1997.2	2118.2	4.66	2.72	543	3993.24	113.01	0.50	3.56	0.925	0.077	0.111	1486.56	1598.12	1375.00	2084.56	678.31	0	0	0	11.86	16.03	15.72
3996.95	11431	566.01	1.70	0.00	1484.8	1595.6	1373.9	2084.2	679.1	2.72	1.24	568	4039.12	33.56	0.51	3.47	0.872	0.074	0.047	1305.53	1419.50	1191.56	2170.44	2181.50	0	0	0	11.65	15.75	15.77
4039	end climb: SURFACE_DEPTH_REACHED
state	4040	begin surface coast
4043	end surface coast: CONTROL_FINISHED_OK
state	4043	begin surface