Glider dive log

Shilshole 14Apr22 * SG530 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 530 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 XPDR_VALID 4

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 6 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 13.5

STOP_T 0 SM_CC 627.77997 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 -2

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 7 C_VBD 3100 DEEPGLIDERMB 0

D_NO_BLEED 50 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 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 34

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 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 150 AH0_24V 350 NAV_DEVICE -1

USE_BATHY -6 PITCH_MAX 3750 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2500 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 41

D_OFFGRID 150 PITCH_CNV 0.0041299998 MAXI_24V 3 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 11.318215 SEABIRD_T_G 0.0043864162

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 28.435238 SEABIRD_T_H 0.00063266949

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.5325675e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -166.89734 SEABIRD_T_J 3.073744e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.0002270641 SEABIRD_C_G -10.161054

MASS 52601 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1.1455134

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0026252109

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002807455

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 380 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3970 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 40 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2800 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 150 N_DIVES 6 SEABIRD_C_I -0.0026252109

AH0_24V 350 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.0002807455

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043864162

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063266949

ALTIM_PING_DELTA 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_I 2.5325675e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.073744e-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 627.77997

ALTIM_SENSITIVITY 2 FG_AHR_10V 11.318215 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.435238 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 25 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3750 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 150 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 50

COMPASS2_DEVICE -1 ID 530 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 34 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -2 PRESSURE_DEVICE 41 T_LOITER 0

C_PITCH 2500 KALMAN_USE 2 PRESSURE_SLOPE 0.0002270641 T_MISSION 65

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.89734 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2800 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 3100 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

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 52601 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.028270001 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 3 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3970 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 380 W_ADJ_DBAND 0

DIVE 4 MISSION 2 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 170 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 3.0 XPDR_INT 13.5

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10.161054

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_H 1.1455134

Pre-dive calculations and measurements:

GPS1 140422,184714,4743.833,-12223.997,13,0.7,14,15.4 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140422,185212,4743.810,-12223.961,3,0.7,6,15.4 MHEAD_RNG_PITCHd_Wd 214.0,1981,-17.6,-10.000,-21.21,2209,0.179

SPEED_LIMITS 0.173,0.258 D_GRID 171

TGT_NAME SW IRON 1.000000,0.010647,-0.006749,0.005818,1.048599,0.006805,0.018237,-0.006292,1.032254,6.540393,37.052711,-71.333771

TGT_LATLONG 4743.000,-12225.000

Post-dive calculations and measurements:

FINISH 0.0,1.021847 FG_AHR_10Vo 11.337

SM_CCo 3651.63,192.45,0.928,0,540.7,514.9,566.5,627.80 MEM0 60148,1,0,0

SM_GC 0.55,192.45,7.11,0.76,0.928,0.060,0.078,540.7,514.9,566.5,132.5,2832.8,0,0,0,12.41,15.76,15.79 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 996168,22,50880,54

IRIDIUM_FIX 4743.62,-12225.08,140422,184813 DATA_FILE_SIZE 12939,437

TCM_TEMP 15.90 CAP_FILE_SIZE 163642,0

XPDR_PINGS 22,13.5,11.5 SDSIZE 3887104,3877344

SC_FREEKB 3877248 SDFILEDIR 41,1

HUMID 50.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.66 CURRENT 0.125,194.8,1

INTERNAL_PRESSURE 8.64478 MAGCAL 1.000000,0.008374,-0.013631,0.007058,1.047655,0.007875,0.014938,0.001754,1.041395,9.5,37.0,-75.0,35,0.0101,1

_24V_AH 14.55,2.079 IMPLIED_C_PITCH 2527,21.51,231,0.0,0.00

_10V_AH 14.59,0.000 IMPLIED_C_VBD 3248,24.718540,231,0

FG_AHR_24Vo 28.574 GPS 140422,195402,4743.295,-12224.490,32,0.8,33,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 635 1124 10392.07 nil 0 0 0.00

Pitch_motor 23 450 152.01 nil 0 0 0.00

Roll_motor 55 167 135.95 nil 0 0 0.00

Iridium 191 164 458.02 nil 0 0 0.00

Transponder_ping 5 420 33.61 nil 0 0 0.00

GPS 15 15 3.41 nil 0 0 0.00

Core 884 6 87.72 SciCon 3455 18 910.93

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2129 2 62.14

Compass 655 5 47.83

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

6.12 16386 -146.63 -0.88 0.00 537.2 514.8 559.6 133.6 2850.3 0.00 0.00 0 166.76 159.46 0.00 0.14 0.005 0.000 0.167 3698.00 3732.94 3663.06 133.56 2747.31 0 0 0 15.30 30.00 15.69

166.96 2565 -146.63 -0.88 -40.00 3695.6 3731.0 3660.2 133.5 2743.5 2.59 -10.05 15 183.01 0.00 10.61 2.21 0.000 0.450 0.050 3696.03 3730.94 3661.12 2292.38 1337.25 0 0 0 30.00 15.11 15.74

185.30 3205 -146.63 0.52 0.00 3697.9 3731.6 3664.2 2291.9 1337.6 10.80 -23.98 18 191.17 0.00 1.26 2.48 0.000 0.284 0.073 3699.50 3732.56 3666.44 2626.06 2823.88 0 0 0 30.00 15.68 15.25

380.44 4773 -146.63 -0.31 -40.00 3698.8 3731.4 3666.2 2626.1 2823.9 18.27 -5.28 38 385.95 0.00 0.67 2.38 0.000 0.191 0.050 3699.75 3732.62 3666.88 2420.19 1338.56 0 0 0 30.00 15.33 15.84

510.45 5285 -146.63 -0.52 0.00 3698.6 3731.2 3665.9 2419.4 1338.8 26.85 -7.21 64 515.90 0.00 0.13 2.47 0.000 0.081 0.077 3700.25 3732.62 3667.88 2326.38 2824.88 0 0 0 30.00 15.88 15.41

700.47 2437 -146.63 -0.49 40.00 3697.9 3731.1 3664.7 2327.4 2823.4 46.78 -11.03 84 705.83 0.00 0.19 1.91 0.000 0.238 0.102 3697.88 3732.06 3663.69 2377.88 3989.75 0 0 0 30.00 15.87 15.37

745.36 5285 -146.63 -0.63 0.00 3697.4 3731.2 3663.5 2377.1 3989.1 50.41 -8.08 93 750.94 0.00 0.11 1.93 0.000 0.126 0.049 3699.09 3732.81 3665.38 2323.12 2737.62 0 0 0 30.00 15.90 15.90

940.49 2725 -146.63 -0.60 -40.00 3697.5 3731.4 3663.6 2323.0 2736.9 69.20 -9.40 113 945.87 0.00 0.12 2.19 0.000 0.262 0.056 3697.72 3731.69 3663.75 2357.44 1342.69 0 0 0 30.00 15.89 15.52

990.49 1188 -146.63 -0.68 0.00 3697.5 3731.1 3663.8 2357.8 1342.6 72.92 -7.44 123 995.87 0.00 0.00 2.46 0.000 0.000 0.074 3698.97 3731.88 3666.06 2349.31 2826.38 0 0 0 30.00 30.00 15.97

1180.52 4517 -146.63 -0.74 40.00 3697.7 3731.6 3663.7 2351.1 2826.2 86.53 -6.85 143 1185.85 0.00 0.10 1.89 0.000 0.101 0.100 3698.78 3732.19 3665.38 2274.88 3990.94 0 0 0 30.00 15.97 15.96

1240.52 3205 -146.63 -0.58 0.00 3696.4 3731.2 3661.6 2276.2 3990.6 92.62 -10.36 155 1245.90 0.00 0.30 1.92 0.000 0.260 0.054 3698.59 3733.25 3663.94 2361.44 2743.38 0 0 0 30.00 15.91 15.55

1430.56 4517 -146.63 -0.68 40.00 3696.7 3731.3 3662.1 2360.9 2742.8 104.59 -6.45 175 1435.95 0.00 0.10 2.09 0.000 0.143 0.102 3695.94 3730.88 3661.00 2303.69 3988.31 0 0 0 30.00 15.97 15.97

1500.57 3205 -146.63 -0.61 0.00 3696.1 3731.3 3660.9 2304.1 3988.4 111.60 -10.60 189 1505.94 0.00 0.17 1.92 0.000 0.260 0.052 3695.78 3730.94 3660.62 2353.44 2742.38 0 0 0 30.00 15.93 16.00

1690.61 420 -146.63 -0.70 40.00 3696.5 3731.6 3661.3 2353.5 2741.5 126.45 -7.34 209 1695.88 0.00 0.00 2.10 0.000 0.000 0.105 3696.56 3730.69 3662.44 2347.75 3988.62 0 0 0 30.00 30.00 15.47

1810.65 5285 -146.63 -0.78 0.00 3696.0 3731.1 3660.9 2347.4 3989.1 135.68 -7.61 233 1816.01 0.00 0.12 1.92 0.000 0.122 0.052 3696.44 3731.06 3661.81 2288.00 2742.31 0 0 0 30.00 15.98 16.00

1951 end dive: TARGET_DEPTH_EXCEEDED

state 1951 begin apogee

1951.83 10243 0.00 -0.20 0.00 3696.0 3731.1 3660.9 2287.3 2328.1 150.96 -11.21 248 2073.13 118.63 0.56 0.17 1.124 0.249 0.139 3098.78 3194.31 3003.25 2452.12 2434.00 0 0 0 12.48 15.95 15.34

2074 end apogee: CONTROL_FINISHED_OK

state 2074 begin climb

2073.69 10759 146.63 0.88 -40.00 3097.3 3192.6 3002.1 2452.2 2434.1 154.13 0.00 260 2198.08 118.84 0.85 2.53 1.100 0.175 0.061 2496.56 2571.75 2421.38 2727.38 956.50 0 0 0 12.24 15.38 14.82

2200.37 1028 146.63 0.88 0.00 2497.9 2573.1 2422.8 2727.8 956.6 143.49 10.45 284 2206.02 0.00 0.00 2.53 0.000 0.000 0.062 2499.78 2574.75 2424.81 2727.88 2423.12 0 0 0 30.00 30.00 15.24

2395.50 260 146.63 0.88 40.00 2495.5 2573.5 2417.6 2727.6 2423.4 119.66 11.99 304 2400.89 0.00 0.00 2.36 0.000 0.000 0.094 2497.31 2575.19 2419.44 2727.44 3832.88 0 0 0 30.00 30.00 15.66

2460.42 1156 146.63 0.84 0.00 2495.6 2573.2 2417.9 2727.3 3833.0 110.83 13.80 317 2466.03 0.00 0.00 2.36 0.000 0.000 0.048 2496.03 2574.06 2418.00 2735.38 2355.25 0 0 0 30.00 30.00 15.69

2655.57 4485 146.63 0.81 40.00 2495.0 2572.7 2417.3 2737.9 2345.9 83.78 13.62 337 2661.03 0.00 0.18 2.51 0.000 0.282 0.094 2496.12 2573.88 2418.38 2688.06 3833.31 0 0 0 30.00 15.73 15.79

2715.58 3205 146.63 0.91 0.00 2494.9 2572.6 2417.2 2687.0 3832.9 77.33 10.17 349 2721.00 0.00 0.08 2.33 0.000 0.128 0.051 2495.47 2573.12 2417.81 2739.62 2352.69 0 0 0 30.00 15.82 15.85

2905.59 0 146.63 0.91 0.00 2495.1 2573.1 2417.0 2741.6 2344.8 55.13 11.82 369 2906.93 0.00 0.00 0.00 0.000 0.000 0.000 2493.00 2571.12 2414.88 2741.38 2344.38 0 0 0 30.00 30.00 30.00

3095.62 260 146.63 0.91 40.00 2495.3 2573.4 2417.3 2741.6 2344.6 34.26 11.09 388 3101.03 0.00 0.00 2.48 0.000 0.000 0.095 2496.94 2575.06 2418.81 2740.75 3833.62 0 0 0 30.00 30.00 15.94

3135.64 5253 146.63 0.85 0.00 2495.0 2572.8 2417.1 2741.2 3833.9 28.86 13.74 396 3141.08 0.00 0.19 2.33 0.000 0.258 0.050 2498.59 2575.69 2421.50 2696.62 2352.69 0 0 0 30.00 15.85 15.94

3325.71 10663 204.69 1.03 40.00 2495.0 2573.0 2416.9 2696.2 2343.1 13.61 7.31 416 3377.18 45.81 0.16 2.53 0.934 0.122 0.093 2267.19 2344.56 2189.81 2766.12 3835.31 0 0 0 12.52 15.95 15.67

3410.57 5253 204.69 0.98 0.00 2261.2 2340.7 2181.8 2767.8 3833.9 3.43 12.88 433 3416.23 0.00 0.17 2.35 0.000 0.253 0.050 2263.47 2341.56 2185.38 2726.12 2357.00 0 0 0 30.00 15.67 15.75

3426 end climb: SURFACE_DEPTH_REACHED

state 3426 begin surface coast

3446 end surface coast: CONTROL_FINISHED_OK

state 3446 begin surface

ID	530	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	XPDR_VALID	4
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	6	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	13.5
STOP_T	0	SM_CC	627.77997	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	-2
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	7	C_VBD	3100	DEEPGLIDERMB	0
D_NO_BLEED	50	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	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	34
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	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	150	AH0_24V	350	NAV_DEVICE	-1
USE_BATHY	-6	PITCH_MAX	3750	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2500	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	41
D_OFFGRID	150	PITCH_CNV	0.0041299998	MAXI_24V	3	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	11.318215	SEABIRD_T_G	0.0043864162
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	28.435238	SEABIRD_T_H	0.00063266949
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.5325675e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-166.89734	SEABIRD_T_J	3.073744e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.0002270641	SEABIRD_C_G	-10.161054
MASS	52601	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1.1455134
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0026252109
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002807455
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	380	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3970	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	40	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2800	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PULSE	3

GPS1	140422,184714,4743.833,-12223.997,13,0.7,14,15.4	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140422,185212,4743.810,-12223.961,3,0.7,6,15.4	MHEAD_RNG_PITCHd_Wd	214.0,1981,-17.6,-10.000,-21.21,2209,0.179
SPEED_LIMITS	0.173,0.258	D_GRID	171
TGT_NAME	SW	IRON	1.000000,0.010647,-0.006749,0.005818,1.048599,0.006805,0.018237,-0.006292,1.032254,6.540393,37.052711,-71.333771
TGT_LATLONG	4743.000,-12225.000

FINISH	0.0,1.021847	FG_AHR_10Vo	11.337
SM_CCo	3651.63,192.45,0.928,0,540.7,514.9,566.5,627.80	MEM0	60148,1,0,0
SM_GC	0.55,192.45,7.11,0.76,0.928,0.060,0.078,540.7,514.9,566.5,132.5,2832.8,0,0,0,12.41,15.76,15.79	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	996168,22,50880,54
IRIDIUM_FIX	4743.62,-12225.08,140422,184813	DATA_FILE_SIZE	12939,437
TCM_TEMP	15.90	CAP_FILE_SIZE	163642,0
XPDR_PINGS	22,13.5,11.5	SDSIZE	3887104,3877344
SC_FREEKB	3877248	SDFILEDIR	41,1
HUMID	50.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.66	CURRENT	0.125,194.8,1
INTERNAL_PRESSURE	8.64478	MAGCAL	1.000000,0.008374,-0.013631,0.007058,1.047655,0.007875,0.014938,0.001754,1.041395,9.5,37.0,-75.0,35,0.0101,1
_24V_AH	14.55,2.079	IMPLIED_C_PITCH	2527,21.51,231,0.0,0.00
_10V_AH	14.59,0.000	IMPLIED_C_VBD	3248,24.718540,231,0
FG_AHR_24Vo	28.574	GPS	140422,195402,4743.295,-12224.490,32,0.8,33,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	635	1124	10392.07	nil	0	0	0.00
Pitch_motor	23	450	152.01	nil	0	0	0.00
Roll_motor	55	167	135.95	nil	0	0	0.00
Iridium	191	164	458.02	nil	0	0	0.00
Transponder_ping	5	420	33.61	nil	0	0	0.00
GPS	15	15	3.41	nil	0	0	0.00
Core	884	6	87.72	SciCon	3455	18	910.93
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2129	2	62.14
Compass	655	5	47.83
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
6.12	16386	-146.63	-0.88	0.00	537.2	514.8	559.6	133.6	2850.3	0.00	0.00	0	166.76	159.46	0.00	0.14	0.005	0.000	0.167	3698.00	3732.94	3663.06	133.56	2747.31	0	0	0	15.30	30.00	15.69
166.96	2565	-146.63	-0.88	-40.00	3695.6	3731.0	3660.2	133.5	2743.5	2.59	-10.05	15	183.01	0.00	10.61	2.21	0.000	0.450	0.050	3696.03	3730.94	3661.12	2292.38	1337.25	0	0	0	30.00	15.11	15.74
185.30	3205	-146.63	0.52	0.00	3697.9	3731.6	3664.2	2291.9	1337.6	10.80	-23.98	18	191.17	0.00	1.26	2.48	0.000	0.284	0.073	3699.50	3732.56	3666.44	2626.06	2823.88	0	0	0	30.00	15.68	15.25
380.44	4773	-146.63	-0.31	-40.00	3698.8	3731.4	3666.2	2626.1	2823.9	18.27	-5.28	38	385.95	0.00	0.67	2.38	0.000	0.191	0.050	3699.75	3732.62	3666.88	2420.19	1338.56	0	0	0	30.00	15.33	15.84
510.45	5285	-146.63	-0.52	0.00	3698.6	3731.2	3665.9	2419.4	1338.8	26.85	-7.21	64	515.90	0.00	0.13	2.47	0.000	0.081	0.077	3700.25	3732.62	3667.88	2326.38	2824.88	0	0	0	30.00	15.88	15.41
700.47	2437	-146.63	-0.49	40.00	3697.9	3731.1	3664.7	2327.4	2823.4	46.78	-11.03	84	705.83	0.00	0.19	1.91	0.000	0.238	0.102	3697.88	3732.06	3663.69	2377.88	3989.75	0	0	0	30.00	15.87	15.37
745.36	5285	-146.63	-0.63	0.00	3697.4	3731.2	3663.5	2377.1	3989.1	50.41	-8.08	93	750.94	0.00	0.11	1.93	0.000	0.126	0.049	3699.09	3732.81	3665.38	2323.12	2737.62	0	0	0	30.00	15.90	15.90
940.49	2725	-146.63	-0.60	-40.00	3697.5	3731.4	3663.6	2323.0	2736.9	69.20	-9.40	113	945.87	0.00	0.12	2.19	0.000	0.262	0.056	3697.72	3731.69	3663.75	2357.44	1342.69	0	0	0	30.00	15.89	15.52
990.49	1188	-146.63	-0.68	0.00	3697.5	3731.1	3663.8	2357.8	1342.6	72.92	-7.44	123	995.87	0.00	0.00	2.46	0.000	0.000	0.074	3698.97	3731.88	3666.06	2349.31	2826.38	0	0	0	30.00	30.00	15.97
1180.52	4517	-146.63	-0.74	40.00	3697.7	3731.6	3663.7	2351.1	2826.2	86.53	-6.85	143	1185.85	0.00	0.10	1.89	0.000	0.101	0.100	3698.78	3732.19	3665.38	2274.88	3990.94	0	0	0	30.00	15.97	15.96
1240.52	3205	-146.63	-0.58	0.00	3696.4	3731.2	3661.6	2276.2	3990.6	92.62	-10.36	155	1245.90	0.00	0.30	1.92	0.000	0.260	0.054	3698.59	3733.25	3663.94	2361.44	2743.38	0	0	0	30.00	15.91	15.55
1430.56	4517	-146.63	-0.68	40.00	3696.7	3731.3	3662.1	2360.9	2742.8	104.59	-6.45	175	1435.95	0.00	0.10	2.09	0.000	0.143	0.102	3695.94	3730.88	3661.00	2303.69	3988.31	0	0	0	30.00	15.97	15.97
1500.57	3205	-146.63	-0.61	0.00	3696.1	3731.3	3660.9	2304.1	3988.4	111.60	-10.60	189	1505.94	0.00	0.17	1.92	0.000	0.260	0.052	3695.78	3730.94	3660.62	2353.44	2742.38	0	0	0	30.00	15.93	16.00
1690.61	420	-146.63	-0.70	40.00	3696.5	3731.6	3661.3	2353.5	2741.5	126.45	-7.34	209	1695.88	0.00	0.00	2.10	0.000	0.000	0.105	3696.56	3730.69	3662.44	2347.75	3988.62	0	0	0	30.00	30.00	15.47
1810.65	5285	-146.63	-0.78	0.00	3696.0	3731.1	3660.9	2347.4	3989.1	135.68	-7.61	233	1816.01	0.00	0.12	1.92	0.000	0.122	0.052	3696.44	3731.06	3661.81	2288.00	2742.31	0	0	0	30.00	15.98	16.00
1951	end dive: TARGET_DEPTH_EXCEEDED
state	1951	begin apogee
1951.83	10243	0.00	-0.20	0.00	3696.0	3731.1	3660.9	2287.3	2328.1	150.96	-11.21	248	2073.13	118.63	0.56	0.17	1.124	0.249	0.139	3098.78	3194.31	3003.25	2452.12	2434.00	0	0	0	12.48	15.95	15.34
2074	end apogee: CONTROL_FINISHED_OK
state	2074	begin climb
2073.69	10759	146.63	0.88	-40.00	3097.3	3192.6	3002.1	2452.2	2434.1	154.13	0.00	260	2198.08	118.84	0.85	2.53	1.100	0.175	0.061	2496.56	2571.75	2421.38	2727.38	956.50	0	0	0	12.24	15.38	14.82
2200.37	1028	146.63	0.88	0.00	2497.9	2573.1	2422.8	2727.8	956.6	143.49	10.45	284	2206.02	0.00	0.00	2.53	0.000	0.000	0.062	2499.78	2574.75	2424.81	2727.88	2423.12	0	0	0	30.00	30.00	15.24
2395.50	260	146.63	0.88	40.00	2495.5	2573.5	2417.6	2727.6	2423.4	119.66	11.99	304	2400.89	0.00	0.00	2.36	0.000	0.000	0.094	2497.31	2575.19	2419.44	2727.44	3832.88	0	0	0	30.00	30.00	15.66
2460.42	1156	146.63	0.84	0.00	2495.6	2573.2	2417.9	2727.3	3833.0	110.83	13.80	317	2466.03	0.00	0.00	2.36	0.000	0.000	0.048	2496.03	2574.06	2418.00	2735.38	2355.25	0	0	0	30.00	30.00	15.69
2655.57	4485	146.63	0.81	40.00	2495.0	2572.7	2417.3	2737.9	2345.9	83.78	13.62	337	2661.03	0.00	0.18	2.51	0.000	0.282	0.094	2496.12	2573.88	2418.38	2688.06	3833.31	0	0	0	30.00	15.73	15.79
2715.58	3205	146.63	0.91	0.00	2494.9	2572.6	2417.2	2687.0	3832.9	77.33	10.17	349	2721.00	0.00	0.08	2.33	0.000	0.128	0.051	2495.47	2573.12	2417.81	2739.62	2352.69	0	0	0	30.00	15.82	15.85
2905.59	0	146.63	0.91	0.00	2495.1	2573.1	2417.0	2741.6	2344.8	55.13	11.82	369	2906.93	0.00	0.00	0.00	0.000	0.000	0.000	2493.00	2571.12	2414.88	2741.38	2344.38	0	0	0	30.00	30.00	30.00
3095.62	260	146.63	0.91	40.00	2495.3	2573.4	2417.3	2741.6	2344.6	34.26	11.09	388	3101.03	0.00	0.00	2.48	0.000	0.000	0.095	2496.94	2575.06	2418.81	2740.75	3833.62	0	0	0	30.00	30.00	15.94
3135.64	5253	146.63	0.85	0.00	2495.0	2572.8	2417.1	2741.2	3833.9	28.86	13.74	396	3141.08	0.00	0.19	2.33	0.000	0.258	0.050	2498.59	2575.69	2421.50	2696.62	2352.69	0	0	0	30.00	15.85	15.94
3325.71	10663	204.69	1.03	40.00	2495.0	2573.0	2416.9	2696.2	2343.1	13.61	7.31	416	3377.18	45.81	0.16	2.53	0.934	0.122	0.093	2267.19	2344.56	2189.81	2766.12	3835.31	0	0	0	12.52	15.95	15.67
3410.57	5253	204.69	0.98	0.00	2261.2	2340.7	2181.8	2767.8	3833.9	3.43	12.88	433	3416.23	0.00	0.17	2.35	0.000	0.253	0.050	2263.47	2341.56	2185.38	2726.12	2357.00	0	0	0	30.00	15.67	15.75
3426	end climb: SURFACE_DEPTH_REACHED
state	3426	begin surface coast
3446	end surface coast: CONTROL_FINISHED_OK
state	3446	begin surface