Glider dive log

AMOS 14Oct21 * SG233 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 233 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 15 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 1 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 2 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 1 SM_CC 692.04858 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 4

STOP_T 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 3362 MOTHERBOARD 6

D_TGT 180 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 300 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 0 NOCOMM_ACTION 419 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE1 7

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 200 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_DIVE 60 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_MISSION 80 STROBE 0 LOITER_D_TOP 450 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 550 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 102

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NETWORK_DEVICE 1

T_NO_W 240 RAFOS_MMODEM 0 AH0_24V 550 PRESSURE_DEVICE 34

T_LOITER 0 PITCH_MIN 210 AH0_10V 0 XPDR_DEVICE -1

T_EPIRB 0 PITCH_MAX 3900 MINV_24V 11 SIM_W 0

USE_BATHY -6 C_PITCH 2043 MINV_10V 11 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 MAXI_10V 1.5 SEABIRD_T_I 2.7006432e-05

D_OFFGRID 1000 PITCH_GAIN 25 FG_AHR_10V 104.8752 SEABIRD_T_J 3.3103631e-06

RELAUNCH 1 PITCH_TIMEOUT 30 FG_AHR_24V 223.638 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_C_H 1.1093811

MAX_BUOY 150 PITCH_ADJ_GAIN 0.045000002 PRESSURE_YINT -168.91618 SEABIRD_C_I -0.0026526626

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_J 0.00026268355

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0.5 COMPASS_USE 49156 TEL_NUM 881600005296

RHO 1.0275 C_PITCH_AUTO_MAX 200 ALTIM_PING_FIT 0 ALT_TEL_NUM 12066857603

MASS 72602 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

HD_A 0.003 ROLL_MIN 1115 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MAX 3875 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_C 1.6e-05 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HEADING 180 C_ROLL_DIVE 2550 ALTIM_PULSE 3 PM_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2500 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 ��x 1.0

AH0_10V 0 D_OFFGRID 1000 N_NOCOMM 1 SEABIRD_C_H 1.1093811

AH0_24V 550 D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0026526626

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PHONE_DEVICE 33 SEABIRD_C_J 0.00026268355

ALTIM_FREQUENCY 13 D_SURF 2 PHONE_SUPPLY 2 SEABIRD_T_G 0.0044157342

ALTIM_PING_DELTA 0 D_TGT 180 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064262876

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 104.8752 PITCH_GAIN 25 SM_CC 692.04858

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 223.638 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 STROBE 0

ALT_TEL_NUM 12066857603 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MIN 210 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 30 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 TEL_NUM 881600005296

CALL_WAIT 60 HD_C 1.6e-05 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HEADING 180 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 T_ABORT 1440

COMM_SEQ 0 ID 233 PM_PROFILE 7.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_DIVE 60

COMPASS_DEVICE 66 INT_PRESSURE_YINT 4 PM_XMITPROFILE 3.0 T_EPIRB 0

COMPASS_USE 49156 KALMAN_USE 2 PM_XMITRAW 0.0 T_GPS 5

C_PITCH 2043 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE2 35 PRESSURE_SLOPE 0.00022579571 T_MISSION 80

C_PITCH_AUTO_MAX 200 LOGGERDEVICE3 -1 PRESSURE_YINT -168.91618 T_NO_W 240

C_ROLL_CLIMB 2500 LOGGERDEVICE4 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2550 LOGGERS 3 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3362 LOITER_DBDW 400 RAFOS_DEVICE 102 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_BOTTOM 550 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 200 LOITER_D_TOP 450 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 MASS 72602 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_DBAND 0.029999999 VBD_DBAND 2

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 2 VBD_LP_IGNORE 0

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MINV_10V 11 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_24V 11 ROLL_MAX 3875 VBD_MIN 500

DEVICE6 -1 MISSION 15 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 1 MOTHERBOARD 6 ROLL_MIN 1115 W_ADJ_DBAND 2

D_ABORT 300 NAV_MODE 2 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NETWORK_DEVICE 1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NOCOMM_ACTION 419 SC_PROFILE 7.0 XPDR_INT 0

D_FINISH 0 N_DIVES 1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 N_FILEKB 8 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 200 N_GPS 100440 SEABIRD_C_G -9.9894733 ��x 1.0

Pre-dive calculations and measurements:

GPS1 141021,203519,7300.291,-15429.440,1,0.9,3,13.3 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 141021,203944,7300.308,-15429.609,2,0.9,4,13.3 MHEAD_RNG_PITCHd_Wd 166.7,20000,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,-0.020501,0.027036,-0.068964,1.101220,0.020925,0.036160,-0.006187,1.094685,-655.214539,-832.636780,-711.571411

TGT_LATLONG 7249.509,-15429.609

Post-dive calculations and measurements:

NAV 1634245455,190.3,0,stop FG_AHR_24Vo 223.920

FINISH -0.2,1.014252 FG_AHR_10Vo 104.933

SM_CCo 3855.05,28.83,1.123,0,541.9,562.8,521.0,691.78 MEM0 60484,1,0,0

SM_GC 1.08,28.83,16.37,0.21,1.123,0.064,0.099,541.9,562.8,521.0,202.8,2546.4,0,0,0,11.09,15.36,15.39 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 996232,33,49824,67

IRIDIUM_FIX 7302.09,-15428.71,141021,203557 DATA_FILE_SIZE 16131,630

TCM_TEMP 4.01 CAP_FILE_SIZE 3721190,0

SC_FREEKB 3878432 SDSIZE 3918848,3896352

PM_FREEKB_00 62190400 SDFILEDIR 119,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.273,292.4,1

HUMID 59.79 MAGCAL 1.000000,-0.039433,-0.382457,-0.062537,1.043988,0.201454,-0.044959,0.038132,1.300460,-320.4,-882.9,-789.4,21,0.1437,1

TEMP 3.42 IMPLIED_C_PITCH 2167,16.40,324,2104.8,23.00

INTERNAL_PRESSURE 8.62438 IMPLIED_C_VBD 3173,53.408447,313,3267.5

_24V_AH 14.70,110.527 GPS 141021,214515,7300.099,-15431.563,1,1.1,3,13.3

_10V_AH 14.71,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 948 1393 19418.13 nil 0 0 0.00

Pitch_motor 37 259 141.21 nil 0 0 0.00

Roll_motor 77 230 261.39 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 3023 10 450.11 SciCon 3797 6 379.25

LPSleep 863 1 14.22 PMAR 3806 10 571.96

Compass 1842 5 135.51 nil 0 0 0.00

RAFOS 7 40 4.16

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.58 16386 -145.99 -0.88 0.00 540.4 555.0 525.8 195.1 2529.5 0.00 0.00 0 120.14 109.03 0.00 0.00 0.005 0.000 0.000 2266.38 2253.44 2279.31 195.06 2529.50 0 0 0 13.88 30.00 30.00

120.37 18983 -145.99 -0.88 -80.00 2263.9 2251.4 2276.4 195.0 2529.9 3.34 -2.17 21 189.36 44.90 13.40 3.60 0.005 0.259 0.173 3957.78 3963.50 3952.06 1826.62 1105.19 0 0 0 15.97 15.43 15.65

318.65 3205 -145.99 -0.53 0.00 3958.0 3965.2 3950.9 1826.9 1105.0 55.63 -25.46 60 328.60 0.00 0.62 3.35 0.000 0.168 0.063 3957.72 3966.06 3949.38 1915.50 2575.50 0 0 0 30.00 15.56 15.68

512.96 516 -145.99 -0.53 -80.00 3957.2 3964.7 3949.8 1914.9 2574.5 84.78 -13.56 99 523.56 0.00 0.00 3.76 0.000 0.000 0.169 3957.75 3964.75 3950.75 1915.31 1105.94 0 0 0 30.00 30.00 15.55

528.78 1028 -145.99 -0.53 -0.37 3957.3 3964.3 3950.4 1915.1 1105.7 86.97 -14.08 102 539.13 0.00 0.00 3.32 0.000 0.000 0.061 3957.28 3964.06 3950.50 1915.62 2572.88 0 0 0 30.00 30.00 15.65

724.42 516 -145.99 -0.53 -80.00 3955.6 3962.1 3949.1 1914.9 2573.0 113.88 -13.31 131 734.89 0.00 0.00 3.77 0.000 0.000 0.172 3957.38 3962.88 3951.88 1915.00 1105.88 0 0 0 30.00 30.00 15.53

774.42 1028 -145.99 -0.53 -1.08 3955.5 3961.9 3949.1 1915.4 1106.0 121.25 -14.99 141 784.87 0.00 0.00 3.31 0.000 0.000 0.063 3955.94 3962.38 3949.50 1914.88 2559.50 0 0 0 30.00 30.00 15.65

974.54 516 -145.99 -0.53 -80.00 3955.2 3960.4 3949.9 1914.6 2559.1 146.61 -12.27 162 984.99 0.00 0.00 3.76 0.000 0.000 0.175 3955.47 3961.75 3949.19 1915.06 1105.88 0 0 0 30.00 30.00 15.49

1004.53 1028 -145.99 -0.53 -1.51 3956.0 3961.9 3950.2 1914.6 1105.4 150.61 -13.36 168 1010.74 0.00 0.00 3.31 0.000 0.000 0.064 3956.53 3961.50 3951.56 1913.38 2549.19 0 0 0 30.00 30.00 15.65

1192.52 0 -145.99 -0.53 -1.51 3955.0 3960.4 3949.7 1915.8 2549.7 172.93 -11.75 187 1195.16 0.00 0.00 0.00 0.000 0.000 0.000 3954.66 3960.12 3949.19 1914.44 2549.56 0 0 0 30.00 30.00 30.00

1262 end dive: TARGET_DEPTH_EXCEEDED

state 1262 begin apogee

1262.90 10243 0.00 -0.20 0.00 3954.5 3960.0 3949.1 1914.9 2469.8 181.15 -11.72 194 1375.65 109.45 0.56 0.09 1.393 0.144 0.230 3360.28 3375.75 3344.81 1996.19 2526.06 0 0 0 10.78 15.46 15.52

1378 end apogee: CONTROL_FINISHED_OK

state 1378 begin climb

1377.56 10503 145.99 0.88 80.00 3360.6 3375.8 3345.4 1996.2 2526.0 189.72 0.00 205 1505.86 117.83 1.93 3.38 1.317 0.157 0.129 2767.38 2799.50 2735.25 2256.12 3883.75 0 0 0 11.07 15.50 15.50

1615.38 11431 278.32 1.31 0.00 2755.5 2782.1 2729.0 2256.2 3883.8 185.12 3.84 250 1735.55 108.79 0.68 3.38 1.303 0.071 0.075 2225.09 2229.44 2220.75 2368.81 2476.25 0 0 0 11.34 15.40 15.41

1918.06 16902 278.32 1.31 -80.00 2215.5 2212.9 2218.2 2368.1 2475.8 155.29 10.78 292 1932.19 0.00 0.00 3.52 0.000 0.000 0.156 2215.81 2213.06 2218.56 2368.06 1103.81 0 0 0 30.00 30.00 15.40

2014.91 21639 278.32 1.07 -0.27 2212.9 2207.8 2218.0 2368.2 1103.8 142.97 12.51 311 2027.86 0.00 0.61 3.33 0.000 0.176 0.070 2216.31 2211.38 2221.25 2294.56 2526.06 0 0 0 30.00 15.37 15.52

2212.91 10919 376.33 1.44 -80.00 2210.2 2207.2 2213.1 2294.6 2526.2 130.91 5.44 332 2310.00 86.56 0.69 3.66 1.291 0.075 0.156 1826.19 1833.25 1819.12 2398.00 1105.94 0 0 0 10.90 15.51 15.38

2422.19 17414 376.33 1.44 -0.78 1818.2 1826.2 1810.2 2397.8 1105.7 107.56 13.15 372 2431.46 0.00 0.00 3.32 0.000 0.000 0.070 1820.28 1828.31 1812.25 2395.62 2513.81 0 0 0 30.00 30.00 15.49

2614.30 17030 376.33 1.56 -80.00 1814.3 1824.6 1804.0 2398.1 2515.6 88.40 8.76 403 2624.01 0.00 0.00 3.63 0.000 0.000 0.156 1817.59 1828.31 1806.88 2398.19 1103.69 0 0 0 30.00 30.00 15.42

2658.85 17414 376.33 1.56 -1.12 1814.3 1824.7 1804.0 2398.6 1103.8 84.16 9.43 411 2668.84 0.00 0.00 3.30 0.000 0.000 0.070 1814.50 1824.94 1804.06 2398.06 2511.81 0 0 0 30.00 30.00 15.52

2853.30 10919 451.89 1.84 -80.00 1812.2 1823.7 1800.8 2398.2 2511.6 70.31 6.48 449 2954.87 90.83 0.57 3.65 1.253 0.080 0.157 1518.81 1548.81 1488.81 2496.06 1104.38 0 0 0 10.90 15.52 15.39

3032.03 5253 451.89 1.71 -1.83 1514.8 1543.6 1486.0 2496.9 1103.8 51.29 12.07 483 3042.17 0.00 0.41 3.31 0.000 0.175 0.071 1514.44 1543.56 1485.31 2450.62 2498.62 0 0 0 30.00 15.35 15.46

3226.65 10919 535.18 2.07 -80.00 1510.5 1543.0 1478.0 2451.1 2499.5 37.68 6.13 521 3338.41 98.01 0.67 3.64 1.212 0.079 0.159 1181.31 1228.56 1134.06 2550.62 1103.88 0 0 0 10.67 15.46 15.32

3392.91 1028 535.18 2.07 -2.79 1178.1 1225.3 1130.8 2550.8 1104.0 23.44 8.81 553 3402.18 0.00 0.00 3.27 0.000 0.000 0.071 1178.28 1225.75 1130.81 2550.62 2482.56 0 0 0 30.00 30.00 15.42

3584.25 10663 668.37 2.45 80.00 1175.0 1225.1 1124.8 2549.6 2483.6 14.62 3.80 590 3751.65 153.99 0.56 3.58 1.185 0.083 0.129 637.56 679.00 596.12 2642.38 3884.56 0 0 0 10.82 15.41 15.24

3756.29 1028 668.37 2.45 -2.50 637.1 678.4 595.8 2641.7 3883.8 2.13 8.34 623 3766.23 0.00 0.00 3.54 0.000 0.000 0.077 637.34 678.56 596.12 2642.19 2436.50 0 0 0 30.00 30.00 15.32

3771 end climb: SURFACE_DEPTH_REACHED

state 3771 begin surface coast

3796 end surface coast: CONTROL_FINISHED_OK

state 3796 begin surface

ID	233	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	15	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	1	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	2	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	1	SM_CC	692.04858	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	4
STOP_T	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	3362	MOTHERBOARD	6
D_TGT	180	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	300	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	0	NOCOMM_ACTION	419	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE1	7
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	200	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_DIVE	60	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_MISSION	80	STROBE	0	LOITER_D_TOP	450	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	550	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	102
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NETWORK_DEVICE	1
T_NO_W	240	RAFOS_MMODEM	0	AH0_24V	550	PRESSURE_DEVICE	34
T_LOITER	0	PITCH_MIN	210	AH0_10V	0	XPDR_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3900	MINV_24V	11	SIM_W	0
USE_BATHY	-6	C_PITCH	2043	MINV_10V	11	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	MAXI_10V	1.5	SEABIRD_T_I	2.7006432e-05
D_OFFGRID	1000	PITCH_GAIN	25	FG_AHR_10V	104.8752	SEABIRD_T_J	3.3103631e-06
RELAUNCH	1	PITCH_TIMEOUT	30	FG_AHR_24V	223.638	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_C_H	1.1093811
MAX_BUOY	150	PITCH_ADJ_GAIN	0.045000002	PRESSURE_YINT	-168.91618	SEABIRD_C_I	-0.0026526626
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_J	0.00026268355
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0.5	COMPASS_USE	49156	TEL_NUM	881600005296
RHO	1.0275	C_PITCH_AUTO_MAX	200	ALTIM_PING_FIT	0	ALT_TEL_NUM	12066857603
MASS	72602	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
HD_A	0.003	ROLL_MIN	1115	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MAX	3875	ALTIM_PING_DELTA	0	PM_PROFILE	7.0
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HEADING	180	C_ROLL_DIVE	2550	ALTIM_PULSE	3	PM_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2500	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	1.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	��x	1.0

GPS1	141021,203519,7300.291,-15429.440,1,0.9,3,13.3	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	141021,203944,7300.308,-15429.609,2,0.9,4,13.3	MHEAD_RNG_PITCHd_Wd	166.7,20000,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,-0.020501,0.027036,-0.068964,1.101220,0.020925,0.036160,-0.006187,1.094685,-655.214539,-832.636780,-711.571411
TGT_LATLONG	7249.509,-15429.609

NAV	1634245455,190.3,0,stop	FG_AHR_24Vo	223.920
FINISH	-0.2,1.014252	FG_AHR_10Vo	104.933
SM_CCo	3855.05,28.83,1.123,0,541.9,562.8,521.0,691.78	MEM0	60484,1,0,0
SM_GC	1.08,28.83,16.37,0.21,1.123,0.064,0.099,541.9,562.8,521.0,202.8,2546.4,0,0,0,11.09,15.36,15.39	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	996232,33,49824,67
IRIDIUM_FIX	7302.09,-15428.71,141021,203557	DATA_FILE_SIZE	16131,630
TCM_TEMP	4.01	CAP_FILE_SIZE	3721190,0
SC_FREEKB	3878432	SDSIZE	3918848,3896352
PM_FREEKB_00	62190400	SDFILEDIR	119,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.273,292.4,1
HUMID	59.79	MAGCAL	1.000000,-0.039433,-0.382457,-0.062537,1.043988,0.201454,-0.044959,0.038132,1.300460,-320.4,-882.9,-789.4,21,0.1437,1
TEMP	3.42	IMPLIED_C_PITCH	2167,16.40,324,2104.8,23.00
INTERNAL_PRESSURE	8.62438	IMPLIED_C_VBD	3173,53.408447,313,3267.5
_24V_AH	14.70,110.527	GPS	141021,214515,7300.099,-15431.563,1,1.1,3,13.3
_10V_AH	14.71,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	948	1393	19418.13	nil	0	0	0.00
Pitch_motor	37	259	141.21	nil	0	0	0.00
Roll_motor	77	230	261.39	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	3023	10	450.11	SciCon	3797	6	379.25
LPSleep	863	1	14.22	PMAR	3806	10	571.96
Compass	1842	5	135.51	nil	0	0	0.00
RAFOS	7	40	4.16
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.58	16386	-145.99	-0.88	0.00	540.4	555.0	525.8	195.1	2529.5	0.00	0.00	0	120.14	109.03	0.00	0.00	0.005	0.000	0.000	2266.38	2253.44	2279.31	195.06	2529.50	0	0	0	13.88	30.00	30.00
120.37	18983	-145.99	-0.88	-80.00	2263.9	2251.4	2276.4	195.0	2529.9	3.34	-2.17	21	189.36	44.90	13.40	3.60	0.005	0.259	0.173	3957.78	3963.50	3952.06	1826.62	1105.19	0	0	0	15.97	15.43	15.65
318.65	3205	-145.99	-0.53	0.00	3958.0	3965.2	3950.9	1826.9	1105.0	55.63	-25.46	60	328.60	0.00	0.62	3.35	0.000	0.168	0.063	3957.72	3966.06	3949.38	1915.50	2575.50	0	0	0	30.00	15.56	15.68
512.96	516	-145.99	-0.53	-80.00	3957.2	3964.7	3949.8	1914.9	2574.5	84.78	-13.56	99	523.56	0.00	0.00	3.76	0.000	0.000	0.169	3957.75	3964.75	3950.75	1915.31	1105.94	0	0	0	30.00	30.00	15.55
528.78	1028	-145.99	-0.53	-0.37	3957.3	3964.3	3950.4	1915.1	1105.7	86.97	-14.08	102	539.13	0.00	0.00	3.32	0.000	0.000	0.061	3957.28	3964.06	3950.50	1915.62	2572.88	0	0	0	30.00	30.00	15.65
724.42	516	-145.99	-0.53	-80.00	3955.6	3962.1	3949.1	1914.9	2573.0	113.88	-13.31	131	734.89	0.00	0.00	3.77	0.000	0.000	0.172	3957.38	3962.88	3951.88	1915.00	1105.88	0	0	0	30.00	30.00	15.53
774.42	1028	-145.99	-0.53	-1.08	3955.5	3961.9	3949.1	1915.4	1106.0	121.25	-14.99	141	784.87	0.00	0.00	3.31	0.000	0.000	0.063	3955.94	3962.38	3949.50	1914.88	2559.50	0	0	0	30.00	30.00	15.65
974.54	516	-145.99	-0.53	-80.00	3955.2	3960.4	3949.9	1914.6	2559.1	146.61	-12.27	162	984.99	0.00	0.00	3.76	0.000	0.000	0.175	3955.47	3961.75	3949.19	1915.06	1105.88	0	0	0	30.00	30.00	15.49
1004.53	1028	-145.99	-0.53	-1.51	3956.0	3961.9	3950.2	1914.6	1105.4	150.61	-13.36	168	1010.74	0.00	0.00	3.31	0.000	0.000	0.064	3956.53	3961.50	3951.56	1913.38	2549.19	0	0	0	30.00	30.00	15.65
1192.52	0	-145.99	-0.53	-1.51	3955.0	3960.4	3949.7	1915.8	2549.7	172.93	-11.75	187	1195.16	0.00	0.00	0.00	0.000	0.000	0.000	3954.66	3960.12	3949.19	1914.44	2549.56	0	0	0	30.00	30.00	30.00
1262	end dive: TARGET_DEPTH_EXCEEDED
state	1262	begin apogee
1262.90	10243	0.00	-0.20	0.00	3954.5	3960.0	3949.1	1914.9	2469.8	181.15	-11.72	194	1375.65	109.45	0.56	0.09	1.393	0.144	0.230	3360.28	3375.75	3344.81	1996.19	2526.06	0	0	0	10.78	15.46	15.52
1378	end apogee: CONTROL_FINISHED_OK
state	1378	begin climb
1377.56	10503	145.99	0.88	80.00	3360.6	3375.8	3345.4	1996.2	2526.0	189.72	0.00	205	1505.86	117.83	1.93	3.38	1.317	0.157	0.129	2767.38	2799.50	2735.25	2256.12	3883.75	0	0	0	11.07	15.50	15.50
1615.38	11431	278.32	1.31	0.00	2755.5	2782.1	2729.0	2256.2	3883.8	185.12	3.84	250	1735.55	108.79	0.68	3.38	1.303	0.071	0.075	2225.09	2229.44	2220.75	2368.81	2476.25	0	0	0	11.34	15.40	15.41
1918.06	16902	278.32	1.31	-80.00	2215.5	2212.9	2218.2	2368.1	2475.8	155.29	10.78	292	1932.19	0.00	0.00	3.52	0.000	0.000	0.156	2215.81	2213.06	2218.56	2368.06	1103.81	0	0	0	30.00	30.00	15.40
2014.91	21639	278.32	1.07	-0.27	2212.9	2207.8	2218.0	2368.2	1103.8	142.97	12.51	311	2027.86	0.00	0.61	3.33	0.000	0.176	0.070	2216.31	2211.38	2221.25	2294.56	2526.06	0	0	0	30.00	15.37	15.52
2212.91	10919	376.33	1.44	-80.00	2210.2	2207.2	2213.1	2294.6	2526.2	130.91	5.44	332	2310.00	86.56	0.69	3.66	1.291	0.075	0.156	1826.19	1833.25	1819.12	2398.00	1105.94	0	0	0	10.90	15.51	15.38
2422.19	17414	376.33	1.44	-0.78	1818.2	1826.2	1810.2	2397.8	1105.7	107.56	13.15	372	2431.46	0.00	0.00	3.32	0.000	0.000	0.070	1820.28	1828.31	1812.25	2395.62	2513.81	0	0	0	30.00	30.00	15.49
2614.30	17030	376.33	1.56	-80.00	1814.3	1824.6	1804.0	2398.1	2515.6	88.40	8.76	403	2624.01	0.00	0.00	3.63	0.000	0.000	0.156	1817.59	1828.31	1806.88	2398.19	1103.69	0	0	0	30.00	30.00	15.42
2658.85	17414	376.33	1.56	-1.12	1814.3	1824.7	1804.0	2398.6	1103.8	84.16	9.43	411	2668.84	0.00	0.00	3.30	0.000	0.000	0.070	1814.50	1824.94	1804.06	2398.06	2511.81	0	0	0	30.00	30.00	15.52
2853.30	10919	451.89	1.84	-80.00	1812.2	1823.7	1800.8	2398.2	2511.6	70.31	6.48	449	2954.87	90.83	0.57	3.65	1.253	0.080	0.157	1518.81	1548.81	1488.81	2496.06	1104.38	0	0	0	10.90	15.52	15.39
3032.03	5253	451.89	1.71	-1.83	1514.8	1543.6	1486.0	2496.9	1103.8	51.29	12.07	483	3042.17	0.00	0.41	3.31	0.000	0.175	0.071	1514.44	1543.56	1485.31	2450.62	2498.62	0	0	0	30.00	15.35	15.46
3226.65	10919	535.18	2.07	-80.00	1510.5	1543.0	1478.0	2451.1	2499.5	37.68	6.13	521	3338.41	98.01	0.67	3.64	1.212	0.079	0.159	1181.31	1228.56	1134.06	2550.62	1103.88	0	0	0	10.67	15.46	15.32
3392.91	1028	535.18	2.07	-2.79	1178.1	1225.3	1130.8	2550.8	1104.0	23.44	8.81	553	3402.18	0.00	0.00	3.27	0.000	0.000	0.071	1178.28	1225.75	1130.81	2550.62	2482.56	0	0	0	30.00	30.00	15.42
3584.25	10663	668.37	2.45	80.00	1175.0	1225.1	1124.8	2549.6	2483.6	14.62	3.80	590	3751.65	153.99	0.56	3.58	1.185	0.083	0.129	637.56	679.00	596.12	2642.38	3884.56	0	0	0	10.82	15.41	15.24
3756.29	1028	668.37	2.45	-2.50	637.1	678.4	595.8	2641.7	3883.8	2.13	8.34	623	3766.23	0.00	0.00	3.54	0.000	0.000	0.077	637.34	678.56	596.12	2642.19	2436.50	0	0	0	30.00	30.00	15.32
3771	end climb: SURFACE_DEPTH_REACHED
state	3771	begin surface coast
3796	end surface coast: CONTROL_FINISHED_OK
state	3796	begin surface