Glider dive log

Shilshole 08Apr21 * SG233 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 233 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 12 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 4 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 4 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 4

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 604.66449 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2965 MOTHERBOARD 6

D_TGT 150 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 175 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 0 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 2 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 2 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 400 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 450 COMPASS_DEVICE 66

T_DIVE 50 T_GPS 5 LOITER_D_BOTTOM 550 COMPASS2_DEVICE -1

T_MISSION 65 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 2 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 550 RAFOS_DEVICE 102

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE 1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 5 SIM_W 0

USE_BATHY -6 PITCH_MIN 210 MAXI_10V 1.5 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 75.279861 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2043 FG_AHR_24V 197.41 SEABIRD_T_I 2.7006432e-05

D_OFFGRID 150 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3103631e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -169.65318 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_H 1.1093811

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 16388 SEABIRD_C_I -0.0026526626

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00026268355

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72312 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 1115 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3875 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 2550 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2500 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.1093811

AH0_24V 550 D_TGT 150 PHONE_DEVICE 33 SEABIRD_C_I -0.0026526626

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00026268355

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_G 0.0044157342

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SEABIRD_T_H 0.00064262876

ALTIM_PING_DEPTH 0 FG_AHR_10V 75.279861 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 197.41 PITCH_DBAND 0.1 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 604.66449

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 210 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 233 PM_PROFILE 7.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT 4 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 50

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 16388 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2043 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022579571 T_LOITER 0

C_ROLL_CLIMB 2500 LOGGERDEVICE4 -1 PRESSURE_YINT -169.65318 T_MISSION 65

C_ROLL_DIVE 2550 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2965 LOITER_DBDW 400 RAFOS_CORR_THRESH 60 T_RSLEEP 2

DBDW 0 LOITER_D_BOTTOM 550 RAFOS_DEVICE 102 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 450 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 -1 LOITER_W_DBAND 2 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 72312 RELAUNCH 1 USE_BATHY -6

DEVICE3 -1 MAXI_10V 1.5 RHO 1.023 USE_ICE 0

DEVICE4 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 4 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 175 MISSION 12 ROLL_MAX 3875 VBD_MAXERRORS 1

D_BOOST 0 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 1115 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 50 N_DIVES 4 SC_PROFILE 7.0 XPDR_INHIBIT 90

D_OFFGRID 150 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_G -9.9894733 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 080421,194408,4743.183,-12224.471,26,1.4,32,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080421,195008,4743.164,-12224.492,3,0.8,6,15.5 MHEAD_RNG_PITCHd_Wd 55.8,684,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 176

TGT_NAME SE IRON 1.000000,-0.030000,0.020000,-0.040000,1.110000,0.060000,0.006000,0.020000,1.100000,-478.000000,-884.000000,-444.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20210408202524.590570,05,32767,45,0176,0150,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-33.9,0.10,-100,2.90,-01,0.01,55,925,0025*0E _24V_AH 14.82,106.923

NAV 1617915397,-0.6,5,stop _10V_AH 14.83,0.000

NET CACST,6,1,20210408203007.331114,05,19647,42,0091,0150,07,00,00,00,00,-1,-01,-01,1,3,6,0,150,17.1,-266.00,-100,269.00,-01,1.89,68,10000,5000*57 FG_AHR_24Vo 197.599

FINISH -0.5,1.022193 FG_AHR_10Vo 75.346

SM_CCo 3952.47,336.54,0.966,0,500.8,496.6,505.1,604.46 MEM0 60932,1,0,0

SM_GC 0.60,336.54,13.33,0.04,0.966,0.061,0.219,500.8,496.6,505.1,194.0,2583.4,0,0,0,11.13,15.75,15.82 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 996336,24,50132,81

IRIDIUM_FIX 4744.47,-12222.38,080421,183040 DATA_FILE_SIZE 16123,600

TCM_TEMP 11.03 CAP_FILE_SIZE 590112,0

SC_FREEKB 3877472 SDSIZE 3918848,3901824

PM_FREEKB_00 62171840 SDFILEDIR 180,1

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

RAFOS_CLK -9 SOUNDSPEED 1429.0

MODEM 1,1617908763,47.50000,-123.50000,63.683,89682.7 CURRENT 0.193,203.0,1

RAFOS_FIX 4811.570801,-12134.945312,080421,202024,8,255,4973.81 MAGCAL 1.000000,-0.032905,0.060885,-0.040010,1.143075,0.028376,0.020531,-0.024680,1.153879,-308.2,-768.5,-556.5,36,0.0203,0

HUMID 50.17 IMPLIED_C_PITCH 2050,16.73,377

TEMP 9.90 IMPLIED_C_VBD 2987,31.029217,377

INTERNAL_PRESSURE 8.76499 GPS 080421,205724,4742.894,-12224.259,1,1.1,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 771 1189 13598.14 nil 0 0 0.00

Pitch_motor 30 268 122.91 nil 0 0 0.00

Roll_motor 73 218 238.44 nil 0 0 0.00

Iridium 211 178 558.75 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.12 nil 0 0 0.00

Core 2499 10 375.18 SciCon 3599 2 159.80

LPSleep 1431 1 23.77 PMAR 3605 15 841.98

Compass 1197 5 88.79 nil 0 0 0.00

RAFOS 4110 40 2438.52

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

11.56 16386 -146.63 -0.88 0.00 497.0 495.9 498.1 193.9 2525.2 0.00 0.00 0 176.81 162.09 0.00 0.00 0.005 0.000 0.000 3375.00 3374.06 3375.94 193.75 2525.81 0 0 0 13.96 30.00 30.00

177.92 18727 -146.63 -0.88 80.00 3374.5 3372.4 3376.5 193.9 2524.8 3.03 -5.52 32 207.07 5.26 13.56 3.36 0.009 0.268 0.117 3562.81 3571.69 3553.94 1828.06 3885.94 0 0 0 15.84 15.48 15.66

236.46 1028 -146.63 -0.88 0.00 3561.2 3570.3 3552.2 1828.6 3885.9 13.12 -12.81 43 243.91 0.00 0.00 3.17 0.000 0.000 0.058 3563.75 3573.44 3554.06 1828.56 2524.69 0 0 0 30.00 30.00 15.72

428.21 644 -146.63 -0.96 -80.00 3561.3 3571.5 3551.2 1828.4 2524.8 29.36 -8.05 81 439.25 0.00 0.00 3.58 0.000 0.000 0.153 3563.06 3572.38 3553.75 1828.94 1104.50 0 0 0 30.00 30.00 15.67

668.83 1028 -146.63 -0.96 0.00 3562.0 3571.6 3552.4 1828.4 1104.4 51.28 -8.89 129 676.28 0.00 0.00 3.37 0.000 0.000 0.051 3560.69 3570.44 3550.94 1829.00 2581.75 0 0 0 30.00 30.00 15.77

860.59 4485 -146.63 -1.05 80.00 3561.0 3570.1 3551.9 1829.0 2581.2 65.73 -9.24 167 871.56 0.00 0.34 3.19 0.000 0.076 0.114 3561.69 3571.00 3552.38 1770.88 3885.25 0 0 0 30.00 15.75 15.71

935.69 1028 -146.63 -1.05 0.00 3560.4 3570.0 3550.8 1770.2 3885.4 73.65 -10.33 182 943.05 0.00 0.00 3.15 0.000 0.000 0.058 3562.66 3572.06 3553.25 1769.44 2524.31 0 0 0 30.00 30.00 15.78

1126.71 260 -146.63 -1.05 80.00 3561.3 3570.8 3551.8 1770.1 2524.4 92.19 -8.33 220 1134.18 0.00 0.00 3.35 0.000 0.000 0.110 3561.41 3569.75 3553.06 1770.00 3885.75 0 0 0 30.00 30.00 15.71

1179.08 1028 -146.63 -1.05 0.00 3561.5 3571.0 3551.9 1769.9 3886.9 97.09 -9.84 230 1186.51 0.00 0.00 3.15 0.000 0.000 0.059 3561.28 3570.75 3551.81 1769.81 2524.75 0 0 0 30.00 30.00 15.80

1370.19 260 -146.63 -1.05 80.00 3561.5 3570.7 3552.4 1769.9 2524.4 115.49 -10.32 252 1377.78 0.00 0.00 3.34 0.000 0.000 0.109 3562.03 3571.75 3552.31 1769.81 3886.38 0 0 0 30.00 30.00 15.71

1420.51 1028 -146.63 -1.05 0.00 3561.5 3571.4 3551.6 1770.0 3886.6 120.97 -10.72 262 1427.67 0.00 0.00 3.16 0.000 0.000 0.057 3563.38 3572.81 3553.94 1770.56 2521.81 0 0 0 30.00 30.00 15.78

1616.43 260 -146.63 -1.05 80.00 3561.0 3570.2 3551.9 1769.8 2522.8 139.73 -9.42 282 1623.87 0.00 0.00 3.32 0.000 0.000 0.110 3563.09 3572.88 3553.31 1769.31 3885.88 0 0 0 30.00 30.00 15.71

1666.60 1028 -146.63 -1.05 0.00 3561.5 3571.1 3551.9 1769.7 3885.2 144.83 -10.06 292 1673.82 0.00 0.00 3.16 0.000 0.000 0.059 3563.03 3571.94 3554.12 1769.75 2525.50 0 0 0 30.00 30.00 15.78

1722 end dive: TARGET_DEPTH_EXCEEDED

state 1722 begin apogee

1726.06 10243 0.00 -0.20 0.00 3561.9 3570.9 3552.9 1769.6 2474.9 150.69 -10.68 298 1838.67 107.63 1.69 0.08 1.189 0.156 0.214 2961.66 2972.25 2951.06 1995.25 2536.56 0 0 0 10.81 15.60 15.55

1841 end apogee: CONTROL_FINISHED_OK

state 1841 begin climb

1841.54 10243 146.63 0.88 0.00 2963.1 2973.8 2952.4 1994.9 2537.2 153.59 0.00 309 1963.73 115.48 1.77 0.00 1.122 0.101 0.000 2365.97 2384.25 2347.69 2260.56 2536.69 0 0 0 11.38 15.56 30.00

2147.42 16646 146.63 0.88 80.00 2355.3 2371.1 2339.5 2260.8 2536.7 130.39 8.82 343 2154.80 0.00 0.00 3.34 0.000 0.000 0.110 2354.75 2371.62 2337.88 2260.62 3884.62 0 0 0 30.00 30.00 15.55

2187.53 17414 146.63 0.88 0.00 2353.8 2369.4 2338.2 2260.9 3885.1 126.15 10.37 351 2195.74 0.00 0.00 3.30 0.000 0.000 0.056 2356.22 2371.12 2341.31 2261.12 2468.81 0 0 0 30.00 30.00 15.62

2379.37 16386 146.63 0.88 0.00 2352.8 2366.9 2338.6 2260.8 2469.5 109.94 8.59 371 2390.03 0.00 0.00 0.00 0.000 0.000 0.000 2353.28 2367.75 2338.81 2261.69 2469.50 0 0 0 30.00 30.00 30.00

2575.08 16646 146.63 0.88 80.00 2352.2 2366.2 2338.1 2261.4 2470.5 91.98 8.54 399 2582.48 0.00 0.00 3.47 0.000 0.000 0.107 2352.44 2366.12 2338.75 2261.62 3886.25 0 0 0 30.00 30.00 15.67

2616.15 9254 198.75 0.95 0.00 2352.0 2366.2 2337.8 2261.1 3886.6 88.78 7.59 407 2668.27 44.65 0.00 3.29 1.076 0.000 0.057 2153.56 2170.38 2136.75 2261.00 2470.56 0 0 0 11.05 30.00 15.72

2852.59 18823 198.75 1.05 80.00 2145.7 2163.1 2128.2 2261.8 2471.1 68.60 8.44 454 2863.69 0.00 0.24 3.46 0.000 0.090 0.108 2147.59 2165.69 2129.50 2307.06 3885.88 0 0 0 30.00 15.68 15.66

2913.37 17414 198.75 1.05 0.00 2145.0 2162.4 2127.6 2307.9 3886.6 62.56 10.24 466 2920.83 0.00 0.00 3.29 0.000 0.000 0.057 2143.81 2161.25 2126.38 2307.06 2472.50 0 0 0 30.00 30.00 15.72

3105.28 16902 198.75 1.05 -80.00 2144.8 2162.1 2127.4 2307.6 2472.2 44.22 9.42 504 3112.59 0.00 0.00 3.41 0.000 0.000 0.133 2147.50 2164.50 2130.50 2307.44 1104.00 0 0 0 30.00 30.00 15.68

3151.22 17414 198.75 1.05 0.00 2143.4 2159.8 2127.0 2307.3 1103.9 38.58 12.46 513 3158.52 0.00 0.00 3.27 0.000 0.000 0.050 2143.44 2160.00 2126.88 2307.69 2536.88 0 0 0 30.00 30.00 15.74

3342.18 16902 198.75 1.05 -80.00 2143.0 2159.4 2126.6 2306.9 2537.7 20.04 8.66 551 3349.68 0.00 0.00 3.57 0.000 0.000 0.129 2141.38 2157.62 2125.12 2307.81 1103.62 0 0 0 30.00 30.00 15.68

3398.58 17414 198.75 1.05 0.00 2142.0 2158.0 2126.1 2306.9 1103.8 14.86 9.54 562 3406.08 0.00 0.00 3.26 0.000 0.000 0.051 2145.31 2161.69 2128.94 2307.50 2535.75 0 0 0 30.00 30.00 15.78

3562 end climb: SURFACE_DEPTH_REACHED

state 3562 begin surface coast

3590 end surface coast: CONTROL_FINISHED_OK

state 3590 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	12	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	4	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	4	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	4
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	604.66449	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2965	MOTHERBOARD	6
D_TGT	150	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	175	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	0	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	2	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	2	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	400	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	450	COMPASS_DEVICE	66
T_DIVE	50	T_GPS	5	LOITER_D_BOTTOM	550	COMPASS2_DEVICE	-1
T_MISSION	65	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	2	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	550	RAFOS_DEVICE	102
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	5	SIM_W	0
USE_BATHY	-6	PITCH_MIN	210	MAXI_10V	1.5	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	75.279861	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2043	FG_AHR_24V	197.41	SEABIRD_T_I	2.7006432e-05
D_OFFGRID	150	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3103631e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-169.65318	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_H	1.1093811
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	16388	SEABIRD_C_I	-0.0026526626
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00026268355
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72312	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	1115	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3875	ALTIM_PING_DELTA	0	PM_PROFILE	7.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	2550	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2500	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	1.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	080421,194408,4743.183,-12224.471,26,1.4,32,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080421,195008,4743.164,-12224.492,3,0.8,6,15.5	MHEAD_RNG_PITCHd_Wd	55.8,684,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	176
TGT_NAME	SE	IRON	1.000000,-0.030000,0.020000,-0.040000,1.110000,0.060000,0.006000,0.020000,1.100000,-478.000000,-884.000000,-444.000000
TGT_LATLONG	4743.000,-12224.000

MODEM_MSG	CACST,6,1,20210408202524.590570,05,32767,45,0176,0150,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-33.9,0.10,-100,2.90,-01,0.01,55,925,0025*0E	_24V_AH	14.82,106.923
NAV	1617915397,-0.6,5,stop	_10V_AH	14.83,0.000
NET	CACST,6,1,20210408203007.331114,05,19647,42,0091,0150,07,00,00,00,00,-1,-01,-01,1,3,6,0,150,17.1,-266.00,-100,269.00,-01,1.89,68,10000,5000*57	FG_AHR_24Vo	197.599
FINISH	-0.5,1.022193	FG_AHR_10Vo	75.346
SM_CCo	3952.47,336.54,0.966,0,500.8,496.6,505.1,604.46	MEM0	60932,1,0,0
SM_GC	0.60,336.54,13.33,0.04,0.966,0.061,0.219,500.8,496.6,505.1,194.0,2583.4,0,0,0,11.13,15.75,15.82	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	996336,24,50132,81
IRIDIUM_FIX	4744.47,-12222.38,080421,183040	DATA_FILE_SIZE	16123,600
TCM_TEMP	11.03	CAP_FILE_SIZE	590112,0
SC_FREEKB	3877472	SDSIZE	3918848,3901824
PM_FREEKB_00	62171840	SDFILEDIR	180,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-9	SOUNDSPEED	1429.0
MODEM	1,1617908763,47.50000,-123.50000,63.683,89682.7	CURRENT	0.193,203.0,1
RAFOS_FIX	4811.570801,-12134.945312,080421,202024,8,255,4973.81	MAGCAL	1.000000,-0.032905,0.060885,-0.040010,1.143075,0.028376,0.020531,-0.024680,1.153879,-308.2,-768.5,-556.5,36,0.0203,0
HUMID	50.17	IMPLIED_C_PITCH	2050,16.73,377
TEMP	9.90	IMPLIED_C_VBD	2987,31.029217,377
INTERNAL_PRESSURE	8.76499	GPS	080421,205724,4742.894,-12224.259,1,1.1,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	771	1189	13598.14	nil	0	0	0.00
Pitch_motor	30	268	122.91	nil	0	0	0.00
Roll_motor	73	218	238.44	nil	0	0	0.00
Iridium	211	178	558.75	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.12	nil	0	0	0.00
Core	2499	10	375.18	SciCon	3599	2	159.80
LPSleep	1431	1	23.77	PMAR	3605	15	841.98
Compass	1197	5	88.79	nil	0	0	0.00
RAFOS	4110	40	2438.52
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
11.56	16386	-146.63	-0.88	0.00	497.0	495.9	498.1	193.9	2525.2	0.00	0.00	0	176.81	162.09	0.00	0.00	0.005	0.000	0.000	3375.00	3374.06	3375.94	193.75	2525.81	0	0	0	13.96	30.00	30.00
177.92	18727	-146.63	-0.88	80.00	3374.5	3372.4	3376.5	193.9	2524.8	3.03	-5.52	32	207.07	5.26	13.56	3.36	0.009	0.268	0.117	3562.81	3571.69	3553.94	1828.06	3885.94	0	0	0	15.84	15.48	15.66
236.46	1028	-146.63	-0.88	0.00	3561.2	3570.3	3552.2	1828.6	3885.9	13.12	-12.81	43	243.91	0.00	0.00	3.17	0.000	0.000	0.058	3563.75	3573.44	3554.06	1828.56	2524.69	0	0	0	30.00	30.00	15.72
428.21	644	-146.63	-0.96	-80.00	3561.3	3571.5	3551.2	1828.4	2524.8	29.36	-8.05	81	439.25	0.00	0.00	3.58	0.000	0.000	0.153	3563.06	3572.38	3553.75	1828.94	1104.50	0	0	0	30.00	30.00	15.67
668.83	1028	-146.63	-0.96	0.00	3562.0	3571.6	3552.4	1828.4	1104.4	51.28	-8.89	129	676.28	0.00	0.00	3.37	0.000	0.000	0.051	3560.69	3570.44	3550.94	1829.00	2581.75	0	0	0	30.00	30.00	15.77
860.59	4485	-146.63	-1.05	80.00	3561.0	3570.1	3551.9	1829.0	2581.2	65.73	-9.24	167	871.56	0.00	0.34	3.19	0.000	0.076	0.114	3561.69	3571.00	3552.38	1770.88	3885.25	0	0	0	30.00	15.75	15.71
935.69	1028	-146.63	-1.05	0.00	3560.4	3570.0	3550.8	1770.2	3885.4	73.65	-10.33	182	943.05	0.00	0.00	3.15	0.000	0.000	0.058	3562.66	3572.06	3553.25	1769.44	2524.31	0	0	0	30.00	30.00	15.78
1126.71	260	-146.63	-1.05	80.00	3561.3	3570.8	3551.8	1770.1	2524.4	92.19	-8.33	220	1134.18	0.00	0.00	3.35	0.000	0.000	0.110	3561.41	3569.75	3553.06	1770.00	3885.75	0	0	0	30.00	30.00	15.71
1179.08	1028	-146.63	-1.05	0.00	3561.5	3571.0	3551.9	1769.9	3886.9	97.09	-9.84	230	1186.51	0.00	0.00	3.15	0.000	0.000	0.059	3561.28	3570.75	3551.81	1769.81	2524.75	0	0	0	30.00	30.00	15.80
1370.19	260	-146.63	-1.05	80.00	3561.5	3570.7	3552.4	1769.9	2524.4	115.49	-10.32	252	1377.78	0.00	0.00	3.34	0.000	0.000	0.109	3562.03	3571.75	3552.31	1769.81	3886.38	0	0	0	30.00	30.00	15.71
1420.51	1028	-146.63	-1.05	0.00	3561.5	3571.4	3551.6	1770.0	3886.6	120.97	-10.72	262	1427.67	0.00	0.00	3.16	0.000	0.000	0.057	3563.38	3572.81	3553.94	1770.56	2521.81	0	0	0	30.00	30.00	15.78
1616.43	260	-146.63	-1.05	80.00	3561.0	3570.2	3551.9	1769.8	2522.8	139.73	-9.42	282	1623.87	0.00	0.00	3.32	0.000	0.000	0.110	3563.09	3572.88	3553.31	1769.31	3885.88	0	0	0	30.00	30.00	15.71
1666.60	1028	-146.63	-1.05	0.00	3561.5	3571.1	3551.9	1769.7	3885.2	144.83	-10.06	292	1673.82	0.00	0.00	3.16	0.000	0.000	0.059	3563.03	3571.94	3554.12	1769.75	2525.50	0	0	0	30.00	30.00	15.78
1722	end dive: TARGET_DEPTH_EXCEEDED
state	1722	begin apogee
1726.06	10243	0.00	-0.20	0.00	3561.9	3570.9	3552.9	1769.6	2474.9	150.69	-10.68	298	1838.67	107.63	1.69	0.08	1.189	0.156	0.214	2961.66	2972.25	2951.06	1995.25	2536.56	0	0	0	10.81	15.60	15.55
1841	end apogee: CONTROL_FINISHED_OK
state	1841	begin climb
1841.54	10243	146.63	0.88	0.00	2963.1	2973.8	2952.4	1994.9	2537.2	153.59	0.00	309	1963.73	115.48	1.77	0.00	1.122	0.101	0.000	2365.97	2384.25	2347.69	2260.56	2536.69	0	0	0	11.38	15.56	30.00
2147.42	16646	146.63	0.88	80.00	2355.3	2371.1	2339.5	2260.8	2536.7	130.39	8.82	343	2154.80	0.00	0.00	3.34	0.000	0.000	0.110	2354.75	2371.62	2337.88	2260.62	3884.62	0	0	0	30.00	30.00	15.55
2187.53	17414	146.63	0.88	0.00	2353.8	2369.4	2338.2	2260.9	3885.1	126.15	10.37	351	2195.74	0.00	0.00	3.30	0.000	0.000	0.056	2356.22	2371.12	2341.31	2261.12	2468.81	0	0	0	30.00	30.00	15.62
2379.37	16386	146.63	0.88	0.00	2352.8	2366.9	2338.6	2260.8	2469.5	109.94	8.59	371	2390.03	0.00	0.00	0.00	0.000	0.000	0.000	2353.28	2367.75	2338.81	2261.69	2469.50	0	0	0	30.00	30.00	30.00
2575.08	16646	146.63	0.88	80.00	2352.2	2366.2	2338.1	2261.4	2470.5	91.98	8.54	399	2582.48	0.00	0.00	3.47	0.000	0.000	0.107	2352.44	2366.12	2338.75	2261.62	3886.25	0	0	0	30.00	30.00	15.67
2616.15	9254	198.75	0.95	0.00	2352.0	2366.2	2337.8	2261.1	3886.6	88.78	7.59	407	2668.27	44.65	0.00	3.29	1.076	0.000	0.057	2153.56	2170.38	2136.75	2261.00	2470.56	0	0	0	11.05	30.00	15.72
2852.59	18823	198.75	1.05	80.00	2145.7	2163.1	2128.2	2261.8	2471.1	68.60	8.44	454	2863.69	0.00	0.24	3.46	0.000	0.090	0.108	2147.59	2165.69	2129.50	2307.06	3885.88	0	0	0	30.00	15.68	15.66
2913.37	17414	198.75	1.05	0.00	2145.0	2162.4	2127.6	2307.9	3886.6	62.56	10.24	466	2920.83	0.00	0.00	3.29	0.000	0.000	0.057	2143.81	2161.25	2126.38	2307.06	2472.50	0	0	0	30.00	30.00	15.72
3105.28	16902	198.75	1.05	-80.00	2144.8	2162.1	2127.4	2307.6	2472.2	44.22	9.42	504	3112.59	0.00	0.00	3.41	0.000	0.000	0.133	2147.50	2164.50	2130.50	2307.44	1104.00	0	0	0	30.00	30.00	15.68
3151.22	17414	198.75	1.05	0.00	2143.4	2159.8	2127.0	2307.3	1103.9	38.58	12.46	513	3158.52	0.00	0.00	3.27	0.000	0.000	0.050	2143.44	2160.00	2126.88	2307.69	2536.88	0	0	0	30.00	30.00	15.74
3342.18	16902	198.75	1.05	-80.00	2143.0	2159.4	2126.6	2306.9	2537.7	20.04	8.66	551	3349.68	0.00	0.00	3.57	0.000	0.000	0.129	2141.38	2157.62	2125.12	2307.81	1103.62	0	0	0	30.00	30.00	15.68
3398.58	17414	198.75	1.05	0.00	2142.0	2158.0	2126.1	2306.9	1103.8	14.86	9.54	562	3406.08	0.00	0.00	3.26	0.000	0.000	0.051	2145.31	2161.69	2128.94	2307.50	2535.75	0	0	0	30.00	30.00	15.78
3562	end climb: SURFACE_DEPTH_REACHED
state	3562	begin surface coast
3590	end surface coast: CONTROL_FINISHED_OK
state	3590	begin surface