Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 14 * 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 14 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 3048.4446 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 1748.9675 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 18.556511 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.853579 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 30.160585 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 19.853579 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.160585 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 18.556511 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 1748.9675 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 3048.4446 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 14 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 250522,182218,4735.982,-12257.093,1,1.4,4,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -56.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,182535,4736.005,-12257.087,3,1.4,5,15.5 MHEAD_RNG_PITCHd_Wd 16.5,2032,-17.1,-9.697,-20.82,2278,0.157

SPEED_LIMITS 0.168,0.255 D_GRID 165

TGT_NAME N IRON 1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653506945,3.8,start _10V_AH 14.82,0.000

NET xm1t part outbox0004.n 967 0 FG_AHR_24Vo 30.324

NET_PING 1653506532,25,1719.637573,9.100000,-2.287987 FG_AHR_10Vo 19.885

MODEM_MSG CACST,8,1,20220525190500.894300,18,7205,38,0337,0000,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,1.7,3.29,-100,-0.29,-01,-0.28,72,925,0025,0,-1,00,00*00 MEM0 60132,1,0,0

FINISH -0.1,1.012496 MEM1 65508,1,0,0

SM_CCo 4089.71,130.96,0.885,0,556.9,617.8,496.0,611.07 MEM2 944592,33,102076,62

SM_GC 0.97,130.96,12.15,3.45,0.885,0.073,0.049,556.9,617.8,496.0,198.8,2123.3,0,0,0,11.77,15.73,15.75 DATA_FILE_SIZE 16111,560

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 386550,0

IRIDIUM_FIX 4736.87,-12256.21,250522,172147 SDSIZE 3887104,3867168

TCM_TEMP 13.18 SDFILEDIR 154,1

SC_FREEKB 3874304 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

MODEM 1,1653505500,47.50000,-123.50000,0.894,1310.1 CURRENT 0.012,275.9,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,0.049241,0.038350,-0.000444,1.137798,-0.001650,-0.045417,-0.127583,1.204911,442.3,-1346.9,-339.8,36,0.0615,0

HUMID 48.98 IMPLIED_C_PITCH 1747,18.52,297,1748.1,18.54

TEMP 10.59 IMPLIED_C_VBD 3039,40.290253,297,3043.6

INTERNAL_PRESSURE 8.11054 GPS 250522,193502,4736.334,-12256.793,14,1.2,19,15.5

_24V_AH 14.82,10.201

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 688 1065 10876.42 nil 0 0 0.00

Pitch_motor 29 287 124.35 nil 0 0 0.00

Roll_motor 64 164 155.95 nil 0 0 0.00

Iridium 129 188 360.30 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 2506 5 190.16 SciCon 3931 6 399.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1614 0 7.66

Compass 1137 5 84.30

RAFOS 874 40 518.20

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

6.55 16386 -146.63 -1.10 0.00 492.6 562.8 422.4 202.3 2104.2 0.00 0.00 0 96.98 86.32 0.00 0.00 0.005 0.000 0.000 2497.06 2469.62 2524.50 202.38 2104.12 0 0 0 15.86 30.00 30.00

97.28 18727 -146.63 -1.10 80.00 2495.1 2467.9 2522.2 202.4 2103.4 3.33 -2.68 17 153.60 32.35 10.54 3.71 0.006 0.287 0.102 3645.66 3637.75 3653.56 1482.00 3617.88 0 0 0 15.91 15.74 15.85

381.67 3205 -146.63 -0.90 0.00 3646.7 3640.9 3652.4 1482.3 3618.1 35.81 -10.70 70 388.62 0.00 0.34 3.42 0.000 0.178 0.045 3648.09 3641.38 3654.81 1531.25 2116.06 0 0 0 30.00 15.84 15.91

572.23 420 -146.63 -0.93 80.00 3647.8 3642.9 3652.6 1531.5 2115.8 49.53 -7.22 108 579.11 0.00 0.00 3.65 0.000 0.000 0.101 3647.44 3642.31 3652.56 1531.44 3618.94 0 0 0 30.00 30.00 15.94

712.76 1188 -146.63 -0.90 0.00 3647.8 3642.6 3652.9 1531.8 3619.1 61.86 -9.08 136 718.83 0.00 0.00 3.40 0.000 0.000 0.044 3648.62 3643.31 3653.94 1531.81 2117.25 0 0 0 30.00 30.00 16.01

905.83 160 -146.63 -0.93 0.00 3648.2 3644.5 3652.0 1531.6 2115.9 76.49 -7.48 157 907.44 0.00 0.00 0.00 0.000 0.000 0.000 3647.69 3643.81 3651.56 1531.50 2116.00 0 0 0 30.00 30.00 30.00

1095.86 420 -146.63 -0.96 80.00 3648.6 3645.1 3652.1 1531.4 2116.6 90.70 -7.69 176 1103.06 0.00 0.00 3.63 0.000 0.000 0.102 3649.97 3646.00 3653.94 1531.88 3617.88 0 0 0 30.00 30.00 16.04

1165.86 1060 -146.63 -0.96 0.00 3648.8 3644.9 3652.6 1531.6 3618.2 97.07 -9.23 190 1173.44 0.00 0.00 3.39 0.000 0.000 0.045 3649.12 3645.19 3653.06 1532.12 2114.25 0 0 0 30.00 30.00 16.08

1361.72 4257 -146.63 -1.00 0.00 3649.0 3645.6 3652.4 1531.4 2113.0 112.96 -8.04 210 1363.59 0.00 0.25 0.00 0.000 0.091 0.000 3648.19 3644.75 3651.62 1492.88 2113.69 0 0 0 30.00 16.08 30.00

1545.69 2437 -146.63 -0.94 80.00 3648.6 3645.5 3651.6 1492.9 2113.4 131.77 -10.42 229 1553.20 0.00 0.25 3.63 0.000 0.170 0.103 3648.28 3644.81 3651.75 1521.56 3620.50 0 0 0 30.00 16.07 16.09

1615.12 1156 -146.63 -0.90 0.00 3648.8 3645.1 3652.6 1521.6 3620.6 139.12 -10.50 242 1621.28 0.00 0.00 3.39 0.000 0.000 0.045 3650.06 3646.44 3653.69 1521.94 2115.44 0 0 0 30.00 30.00 16.10

1805.10 292 -146.63 -0.90 80.00 3648.9 3645.6 3652.2 1521.9 2115.9 155.85 -8.74 262 1812.41 0.00 0.00 3.62 0.000 0.000 0.103 3648.59 3645.44 3651.75 1521.31 3619.44 0 0 0 30.00 30.00 16.10

1835.20 1060 -146.63 -0.90 0.00 3648.9 3645.9 3652.0 1521.9 3619.6 158.90 -9.40 268 1842.77 0.00 0.00 3.38 0.000 0.000 0.045 3649.03 3645.56 3652.50 1521.69 2116.31 0 0 0 30.00 30.00 16.13

1851 end dive: TARGET_DEPTH_EXCEEDED

state 1851 begin apogee

1852.24 10243 0.00 -0.27 0.00 3648.8 3645.5 3652.2 1521.7 2186.8 160.32 -9.79 270 1972.11 111.42 1.12 0.12 1.065 0.152 0.164 3045.16 3098.44 2991.88 1682.12 2106.19 0 0 0 11.92 16.07 15.75

1973 end apogee: CONTROL_FINISHED_OK

state 1973 begin climb

1973.28 10243 146.63 1.10 0.00 3046.2 3099.2 2993.2 1682.2 2106.2 163.89 0.00 281 2103.13 116.39 2.30 0.00 1.027 0.118 0.000 2448.62 2516.56 2380.69 2017.12 2105.75 0 0 0 11.70 15.74 30.00

2286.66 4485 146.63 0.98 80.00 2443.4 2505.4 2381.5 2016.7 2106.4 132.61 12.48 312 2294.39 0.00 0.31 3.74 0.000 0.166 0.104 2443.09 2505.62 2380.56 1979.44 3618.06 0 0 0 30.00 15.69 15.72

2357.23 17542 146.63 0.86 0.00 2441.6 2501.9 2381.3 1980.3 3618.0 123.75 12.40 326 2364.84 0.00 0.00 3.46 0.000 0.000 0.045 2441.47 2501.25 2381.69 1979.44 2118.31 0 0 0 30.00 30.00 15.79

2552.96 32 150.71 0.87 0.00 2441.6 2502.1 2381.1 1979.3 2118.1 104.31 9.51 346 2554.57 0.00 0.00 0.00 0.000 0.000 0.000 2440.25 2501.06 2379.44 1979.25 2118.94 0 0 0 30.00 30.00 30.00

2735.99 8486 155.34 0.87 80.00 2441.2 2501.6 2380.9 1979.3 2118.9 86.81 9.49 365 2752.83 8.10 0.00 3.66 0.792 0.000 0.108 2415.28 2477.06 2353.50 1979.06 3616.56 0 0 0 11.90 30.00 15.91

2800.31 5253 155.34 0.64 0.00 2412.1 2473.1 2351.2 1979.4 3616.2 79.91 11.19 377 2807.57 0.00 0.56 3.41 0.000 0.165 0.045 2413.09 2474.00 2352.19 1895.75 2118.81 0 0 0 30.00 15.88 15.95

2995.07 10403 226.28 0.90 0.00 2412.3 2473.5 2351.1 1896.1 2117.8 66.38 6.51 397 3058.52 56.14 0.50 0.00 0.977 0.077 0.000 2125.41 2207.69 2043.12 1974.00 2117.56 0 0 0 11.78 15.99 30.00

3240.13 8614 233.73 0.97 80.00 2119.0 2196.4 2041.6 1973.6 2117.6 43.12 9.36 428 3257.55 7.39 0.00 3.68 0.733 0.000 0.109 2093.16 2170.88 2015.44 1973.50 3619.56 0 0 0 11.81 30.00 15.88

3321.12 1156 233.73 1.01 0.00 2091.6 2167.9 2015.3 1973.5 3619.5 34.18 11.08 444 3327.96 0.00 0.00 3.43 0.000 0.000 0.047 2093.50 2169.88 2017.12 1972.69 2117.94 0 0 0 30.00 30.00 15.94

3509.93 10403 271.97 1.16 0.00 2091.2 2167.2 2015.2 1973.9 2118.9 17.15 7.98 481 3546.80 30.48 0.35 0.00 0.915 0.078 0.000 1937.72 2025.88 1849.56 2037.19 2118.62 0 0 0 11.78 15.96 30.00

3730.41 10663 423.63 1.52 80.00 1933.3 2017.8 1848.9 2036.6 2118.3 4.29 2.88 525 3853.83 109.28 0.50 3.73 0.905 0.079 0.105 1318.59 1432.56 1204.62 2122.44 3618.12 0 0 0 11.84 15.94 15.66

3858 end climb: SURFACE_DEPTH_REACHED

state 3858 begin surface coast

3923 end surface coast: CONTROL_FINISHED_OK

state 3923 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	14	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	3048.4446	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	1748.9675	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	18.556511	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.853579	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	30.160585	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	250522,182218,4735.982,-12257.093,1,1.4,4,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,182535,4736.005,-12257.087,3,1.4,5,15.5	MHEAD_RNG_PITCHd_Wd	16.5,2032,-17.1,-9.697,-20.82,2278,0.157
SPEED_LIMITS	0.168,0.255	D_GRID	165
TGT_NAME	N	IRON	1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887
TGT_LATLONG	4737.000,-12256.400

NAV	1653506945,3.8,start	_10V_AH	14.82,0.000
NET	xm1t part outbox0004.n 967 0	FG_AHR_24Vo	30.324
NET_PING	1653506532,25,1719.637573,9.100000,-2.287987	FG_AHR_10Vo	19.885
MODEM_MSG	CACST,8,1,20220525190500.894300,18,7205,38,0337,0000,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,1.7,3.29,-100,-0.29,-01,-0.28,72,925,0025,0,-1,00,00*00	MEM0	60132,1,0,0
FINISH	-0.1,1.012496	MEM1	65508,1,0,0
SM_CCo	4089.71,130.96,0.885,0,556.9,617.8,496.0,611.07	MEM2	944592,33,102076,62
SM_GC	0.97,130.96,12.15,3.45,0.885,0.073,0.049,556.9,617.8,496.0,198.8,2123.3,0,0,0,11.77,15.73,15.75	DATA_FILE_SIZE	16111,560
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	386550,0
IRIDIUM_FIX	4736.87,-12256.21,250522,172147	SDSIZE	3887104,3867168
TCM_TEMP	13.18	SDFILEDIR	154,1
SC_FREEKB	3874304	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
MODEM	1,1653505500,47.50000,-123.50000,0.894,1310.1	CURRENT	0.012,275.9,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,0.049241,0.038350,-0.000444,1.137798,-0.001650,-0.045417,-0.127583,1.204911,442.3,-1346.9,-339.8,36,0.0615,0
HUMID	48.98	IMPLIED_C_PITCH	1747,18.52,297,1748.1,18.54
TEMP	10.59	IMPLIED_C_VBD	3039,40.290253,297,3043.6
INTERNAL_PRESSURE	8.11054	GPS	250522,193502,4736.334,-12256.793,14,1.2,19,15.5
_24V_AH	14.82,10.201

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	688	1065	10876.42	nil	0	0	0.00
Pitch_motor	29	287	124.35	nil	0	0	0.00
Roll_motor	64	164	155.95	nil	0	0	0.00
Iridium	129	188	360.30	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	2506	5	190.16	SciCon	3931	6	399.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1614	0	7.66
Compass	1137	5	84.30
RAFOS	874	40	518.20
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
6.55	16386	-146.63	-1.10	0.00	492.6	562.8	422.4	202.3	2104.2	0.00	0.00	0	96.98	86.32	0.00	0.00	0.005	0.000	0.000	2497.06	2469.62	2524.50	202.38	2104.12	0	0	0	15.86	30.00	30.00
97.28	18727	-146.63	-1.10	80.00	2495.1	2467.9	2522.2	202.4	2103.4	3.33	-2.68	17	153.60	32.35	10.54	3.71	0.006	0.287	0.102	3645.66	3637.75	3653.56	1482.00	3617.88	0	0	0	15.91	15.74	15.85
381.67	3205	-146.63	-0.90	0.00	3646.7	3640.9	3652.4	1482.3	3618.1	35.81	-10.70	70	388.62	0.00	0.34	3.42	0.000	0.178	0.045	3648.09	3641.38	3654.81	1531.25	2116.06	0	0	0	30.00	15.84	15.91
572.23	420	-146.63	-0.93	80.00	3647.8	3642.9	3652.6	1531.5	2115.8	49.53	-7.22	108	579.11	0.00	0.00	3.65	0.000	0.000	0.101	3647.44	3642.31	3652.56	1531.44	3618.94	0	0	0	30.00	30.00	15.94
712.76	1188	-146.63	-0.90	0.00	3647.8	3642.6	3652.9	1531.8	3619.1	61.86	-9.08	136	718.83	0.00	0.00	3.40	0.000	0.000	0.044	3648.62	3643.31	3653.94	1531.81	2117.25	0	0	0	30.00	30.00	16.01
905.83	160	-146.63	-0.93	0.00	3648.2	3644.5	3652.0	1531.6	2115.9	76.49	-7.48	157	907.44	0.00	0.00	0.00	0.000	0.000	0.000	3647.69	3643.81	3651.56	1531.50	2116.00	0	0	0	30.00	30.00	30.00
1095.86	420	-146.63	-0.96	80.00	3648.6	3645.1	3652.1	1531.4	2116.6	90.70	-7.69	176	1103.06	0.00	0.00	3.63	0.000	0.000	0.102	3649.97	3646.00	3653.94	1531.88	3617.88	0	0	0	30.00	30.00	16.04
1165.86	1060	-146.63	-0.96	0.00	3648.8	3644.9	3652.6	1531.6	3618.2	97.07	-9.23	190	1173.44	0.00	0.00	3.39	0.000	0.000	0.045	3649.12	3645.19	3653.06	1532.12	2114.25	0	0	0	30.00	30.00	16.08
1361.72	4257	-146.63	-1.00	0.00	3649.0	3645.6	3652.4	1531.4	2113.0	112.96	-8.04	210	1363.59	0.00	0.25	0.00	0.000	0.091	0.000	3648.19	3644.75	3651.62	1492.88	2113.69	0	0	0	30.00	16.08	30.00
1545.69	2437	-146.63	-0.94	80.00	3648.6	3645.5	3651.6	1492.9	2113.4	131.77	-10.42	229	1553.20	0.00	0.25	3.63	0.000	0.170	0.103	3648.28	3644.81	3651.75	1521.56	3620.50	0	0	0	30.00	16.07	16.09
1615.12	1156	-146.63	-0.90	0.00	3648.8	3645.1	3652.6	1521.6	3620.6	139.12	-10.50	242	1621.28	0.00	0.00	3.39	0.000	0.000	0.045	3650.06	3646.44	3653.69	1521.94	2115.44	0	0	0	30.00	30.00	16.10
1805.10	292	-146.63	-0.90	80.00	3648.9	3645.6	3652.2	1521.9	2115.9	155.85	-8.74	262	1812.41	0.00	0.00	3.62	0.000	0.000	0.103	3648.59	3645.44	3651.75	1521.31	3619.44	0	0	0	30.00	30.00	16.10
1835.20	1060	-146.63	-0.90	0.00	3648.9	3645.9	3652.0	1521.9	3619.6	158.90	-9.40	268	1842.77	0.00	0.00	3.38	0.000	0.000	0.045	3649.03	3645.56	3652.50	1521.69	2116.31	0	0	0	30.00	30.00	16.13
1851	end dive: TARGET_DEPTH_EXCEEDED
state	1851	begin apogee
1852.24	10243	0.00	-0.27	0.00	3648.8	3645.5	3652.2	1521.7	2186.8	160.32	-9.79	270	1972.11	111.42	1.12	0.12	1.065	0.152	0.164	3045.16	3098.44	2991.88	1682.12	2106.19	0	0	0	11.92	16.07	15.75
1973	end apogee: CONTROL_FINISHED_OK
state	1973	begin climb
1973.28	10243	146.63	1.10	0.00	3046.2	3099.2	2993.2	1682.2	2106.2	163.89	0.00	281	2103.13	116.39	2.30	0.00	1.027	0.118	0.000	2448.62	2516.56	2380.69	2017.12	2105.75	0	0	0	11.70	15.74	30.00
2286.66	4485	146.63	0.98	80.00	2443.4	2505.4	2381.5	2016.7	2106.4	132.61	12.48	312	2294.39	0.00	0.31	3.74	0.000	0.166	0.104	2443.09	2505.62	2380.56	1979.44	3618.06	0	0	0	30.00	15.69	15.72
2357.23	17542	146.63	0.86	0.00	2441.6	2501.9	2381.3	1980.3	3618.0	123.75	12.40	326	2364.84	0.00	0.00	3.46	0.000	0.000	0.045	2441.47	2501.25	2381.69	1979.44	2118.31	0	0	0	30.00	30.00	15.79
2552.96	32	150.71	0.87	0.00	2441.6	2502.1	2381.1	1979.3	2118.1	104.31	9.51	346	2554.57	0.00	0.00	0.00	0.000	0.000	0.000	2440.25	2501.06	2379.44	1979.25	2118.94	0	0	0	30.00	30.00	30.00
2735.99	8486	155.34	0.87	80.00	2441.2	2501.6	2380.9	1979.3	2118.9	86.81	9.49	365	2752.83	8.10	0.00	3.66	0.792	0.000	0.108	2415.28	2477.06	2353.50	1979.06	3616.56	0	0	0	11.90	30.00	15.91
2800.31	5253	155.34	0.64	0.00	2412.1	2473.1	2351.2	1979.4	3616.2	79.91	11.19	377	2807.57	0.00	0.56	3.41	0.000	0.165	0.045	2413.09	2474.00	2352.19	1895.75	2118.81	0	0	0	30.00	15.88	15.95
2995.07	10403	226.28	0.90	0.00	2412.3	2473.5	2351.1	1896.1	2117.8	66.38	6.51	397	3058.52	56.14	0.50	0.00	0.977	0.077	0.000	2125.41	2207.69	2043.12	1974.00	2117.56	0	0	0	11.78	15.99	30.00
3240.13	8614	233.73	0.97	80.00	2119.0	2196.4	2041.6	1973.6	2117.6	43.12	9.36	428	3257.55	7.39	0.00	3.68	0.733	0.000	0.109	2093.16	2170.88	2015.44	1973.50	3619.56	0	0	0	11.81	30.00	15.88
3321.12	1156	233.73	1.01	0.00	2091.6	2167.9	2015.3	1973.5	3619.5	34.18	11.08	444	3327.96	0.00	0.00	3.43	0.000	0.000	0.047	2093.50	2169.88	2017.12	1972.69	2117.94	0	0	0	30.00	30.00	15.94
3509.93	10403	271.97	1.16	0.00	2091.2	2167.2	2015.2	1973.9	2118.9	17.15	7.98	481	3546.80	30.48	0.35	0.00	0.915	0.078	0.000	1937.72	2025.88	1849.56	2037.19	2118.62	0	0	0	11.78	15.96	30.00
3730.41	10663	423.63	1.52	80.00	1933.3	2017.8	1848.9	2036.6	2118.3	4.29	2.88	525	3853.83	109.28	0.50	3.73	0.905	0.079	0.105	1318.59	1432.56	1204.62	2122.44	3618.12	0	0	0	11.84	15.94	15.66
3858	end climb: SURFACE_DEPTH_REACHED
state	3858	begin surface coast
3923	end surface coast: CONTROL_FINISHED_OK
state	3923	begin surface