Glider dive log

HoodCanal 21May22 * SG241 * Dive index * Mission links * Dive 5 * 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 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 603.25 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 170 COMM_SEQ 15 C_VBD 3000 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 70 T_RSLEEP 3 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 1700 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 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18.644285 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.573235 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 24.081511 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 -188.51822 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 5 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 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 18.573235 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 24.081511 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 18.644285 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 15 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 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 70

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -188.51822 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

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 3000 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 3 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 5 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 170 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 210522,201650,4736.495,-12256.596,2,1.1,5,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210522,202001,4736.479,-12256.600,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 349.1,997,-17.3,-9.697,-21.02,2224,0.144

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.883667,-1287.684814,-265.922333

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653168014,2.9,0,stop FG_AHR_24Vo 24.249

NET CAXST,7,20220521,212010.290019,3,0,200,5000,10000,1,241,235,0,0,1,5,0,10000*5D FG_AHR_10Vo 18.610

NET_PING 1653166819,235,1680.335938,12.200000,-3.244350 MEM0 60148,1,0,0

FINISH 0.9,1.020296 MEM1 65508,1,0,0

SM_CCo 3900.53,238.74,0.914,0,541.5,613.8,469.2,603.08 MEM2 944704,30,101984,64

SM_GC 1.52,238.74,11.50,0.09,0.914,0.085,0.150,541.5,613.8,469.2,193.4,2179.1,0,0,0,11.60,15.86,15.89 DATA_FILE_SIZE 12903,513

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 298026,0

IRIDIUM_FIX 4737.46,-12258.89,210522,190739 SDSIZE 3887104,3872448

TCM_TEMP 12.71 SDFILEDIR 70,1

SC_FREEKB 3877184 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.055, 25.6,1

HUMID 48.14 MAGCAL 1.000000,-0.005217,0.041964,0.009388,1.067647,-0.041879,-0.020396,-0.063624,1.035092,433.8,-1281.7,-264.7,30,0.0282,0

TEMP 10.20 IMPLIED_C_PITCH 1747,18.04,293,1723.3,18.34

INTERNAL_PRESSURE 8.08599 IMPLIED_C_VBD 2922,22.104065,293,2960.8

_24V_AH 14.77,4.168 GPS 210522,212600,4737.035,-12256.474,4,2.0,9,15.5

_10V_AH 14.80,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 682 1125 11343.79 nil 0 0 0.00

Pitch_motor 26 283 112.19 nil 0 0 0.00

Roll_motor 64 190 182.39 nil 0 0 0.00

Iridium 127 204 384.88 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.90 nil 0 0 0.00

Core 2088 5 158.28 SciCon 3645 6 369.80

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1742 0 8.25

Compass 1037 5 76.76

RAFOS 2421 40 1433.68

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

6.49 16386 -143.25 -1.11 0.00 537.0 611.3 462.8 195.1 2110.5 0.00 0.00 0 110.37 101.36 0.00 0.00 0.005 0.000 0.000 2786.81 2756.19 2817.44 195.00 2110.06 0 0 0 15.63 30.00 30.00

110.60 18727 -146.63 -1.11 80.00 2785.9 2755.8 2816.1 194.8 2109.8 3.46 -4.47 19 152.92 24.33 10.07 3.69 0.006 0.283 0.111 3596.34 3585.19 3607.50 1431.00 3618.31 0 0 0 15.79 15.62 15.74

195.98 3205 -146.63 -0.77 0.00 3597.4 3587.1 3607.7 1431.3 3618.7 15.11 -16.72 36 201.73 0.00 0.58 3.45 0.000 0.192 0.053 3597.47 3587.94 3607.00 1513.62 2119.75 0 0 0 30.00 15.72 15.78

385.99 0 -146.63 -0.77 0.00 3598.2 3593.8 3602.6 1513.5 2120.1 36.88 -9.92 74 390.12 0.00 0.00 0.00 0.000 0.000 0.000 3598.12 3594.00 3602.25 1513.25 2119.44 0 0 0 30.00 30.00 30.00

571.02 292 -146.63 -0.77 80.00 3598.0 3594.0 3602.1 1513.0 2119.2 53.82 -9.54 107 576.00 0.00 0.00 3.69 0.000 0.000 0.112 3598.50 3595.25 3601.75 1513.38 3617.56 0 0 0 30.00 30.00 15.88

641.03 1156 -146.63 -0.70 0.00 3597.8 3594.4 3601.2 1513.6 3617.6 61.24 -10.58 121 645.93 0.00 0.00 3.45 0.000 0.000 0.052 3599.19 3595.81 3602.56 1513.31 2118.25 0 0 0 30.00 30.00 15.92

831.04 292 -146.63 -0.70 80.00 3598.2 3595.4 3601.1 1513.1 2118.2 78.37 -8.78 141 835.97 0.00 0.00 3.68 0.000 0.000 0.111 3598.38 3594.94 3601.81 1513.69 3617.69 0 0 0 30.00 30.00 15.92

891.05 3205 -146.63 -0.65 0.00 3597.8 3593.7 3601.9 1514.4 3617.9 84.58 -10.65 153 896.01 0.00 0.19 3.43 0.000 0.186 0.051 3598.41 3595.25 3601.56 1540.88 2118.25 0 0 0 30.00 15.89 15.96

1081.08 420 -146.63 -0.74 80.00 3598.9 3595.8 3602.1 1541.5 2118.2 99.98 -7.83 173 1086.00 0.00 0.00 3.67 0.000 0.000 0.112 3599.28 3596.19 3602.38 1541.12 3616.44 0 0 0 30.00 30.00 15.98

1125.35 5285 -146.63 -0.77 0.00 3598.6 3596.1 3601.1 1541.1 3616.1 104.13 -9.36 182 1131.77 0.00 0.27 3.42 0.000 0.090 0.051 3599.53 3597.06 3602.00 1500.31 2117.75 0 0 0 30.00 16.00 16.02

1319.07 0 -146.63 -0.77 0.00 3599.0 3595.7 3602.3 1500.1 2116.6 123.61 -10.28 202 1320.40 0.00 0.00 0.00 0.000 0.000 0.000 3597.88 3595.38 3600.38 1500.44 2116.75 0 0 0 30.00 30.00 30.00

1509.07 260 -146.63 -0.77 80.00 3599.0 3596.2 3601.7 1500.5 2117.2 142.81 -10.26 221 1514.02 0.00 0.00 3.66 0.000 0.000 0.112 3599.25 3596.25 3602.25 1500.06 3621.38 0 0 0 30.00 30.00 16.04

1573.37 3205 -146.63 -0.70 0.00 3598.7 3596.0 3601.3 1500.3 3620.9 150.47 -11.99 234 1579.80 0.00 0.26 3.42 0.000 0.179 0.052 3599.44 3596.62 3602.25 1530.69 2119.44 0 0 0 30.00 16.02 16.07

1689 end dive: TARGET_DEPTH_EXCEEDED

state 1689 begin apogee

1690.22 10243 0.00 -0.27 0.00 3599.1 3596.8 3601.4 1531.3 2180.7 160.67 -8.56 246 1803.40 110.62 0.73 0.10 1.125 0.159 0.191 2998.59 3051.25 2945.94 1635.19 2113.00 0 0 0 11.78 16.03 15.69

1804 end apogee: CONTROL_FINISHED_OK

state 1804 begin climb

1804.26 10243 146.63 1.11 0.00 2999.1 3051.8 2946.4 1635.1 2113.4 165.78 0.00 257 1923.75 114.57 2.38 0.00 1.076 0.141 0.000 2399.41 2468.31 2330.50 1970.25 2113.81 0 0 0 11.56 15.66 30.00

2109.11 8226 163.30 1.13 0.00 2396.1 2460.0 2332.2 1969.9 2113.3 143.32 8.93 288 2125.36 14.81 0.00 0.00 0.961 0.000 0.000 2334.78 2401.88 2267.69 1970.69 2113.12 0 0 0 11.54 30.00 30.00

2309.11 260 163.30 1.13 80.00 2330.9 2396.2 2265.5 1970.3 2113.1 124.23 9.88 308 2324.66 0.00 0.00 3.74 0.000 0.000 0.117 2331.56 2396.75 2266.38 1969.81 3619.44 0 0 0 30.00 30.00 15.80

2362.00 1156 163.30 1.05 0.00 2329.2 2393.6 2264.8 1970.2 3619.1 118.08 11.82 317 2368.37 0.00 0.00 3.47 0.000 0.000 0.053 2330.59 2394.56 2266.62 1968.75 2121.88 0 0 0 30.00 30.00 15.84

2557.74 0 163.30 1.05 0.00 2329.6 2393.6 2265.6 1970.1 2121.9 98.38 10.40 337 2559.08 0.00 0.00 0.00 0.000 0.000 0.000 2327.47 2391.38 2263.56 1970.19 2122.00 0 0 0 30.00 30.00 30.00

2747.77 292 164.70 1.05 80.00 2329.4 2393.6 2265.2 1969.4 2121.9 79.28 9.63 356 2752.75 0.00 0.00 3.70 0.000 0.000 0.116 2329.47 2393.44 2265.50 1969.50 3616.69 0 0 0 30.00 30.00 15.89

2777.78 5253 164.70 1.00 0.00 2328.8 2392.0 2265.6 1970.2 3615.9 76.10 10.15 362 2782.76 0.00 0.28 3.44 0.000 0.182 0.052 2328.97 2392.44 2265.50 1937.62 2120.56 0 0 0 30.00 15.87 15.93

2967.81 10663 212.04 1.17 80.00 2328.9 2392.4 2265.4 1937.1 2120.4 61.58 7.52 382 3013.62 37.97 0.34 3.71 1.005 0.086 0.116 2136.31 2214.56 2058.06 1990.31 3616.38 0 0 0 11.63 15.94 15.81

3047.82 1156 212.04 1.12 0.00 2132.2 2208.4 2055.9 1990.4 3616.4 52.95 12.25 398 3052.71 0.00 0.00 3.46 0.000 0.000 0.051 2132.44 2208.94 2055.94 1989.25 2120.38 0 0 0 30.00 30.00 15.85

3235.50 128 212.04 1.16 0.00 2130.9 2205.7 2056.1 1990.4 2121.0 33.29 10.43 433 3239.61 0.00 0.00 0.00 0.000 0.000 0.000 2130.94 2205.94 2055.94 1991.06 2120.25 0 0 0 30.00 30.00 30.00

3420.54 8614 239.49 1.25 80.00 2130.4 2204.4 2056.4 1990.9 2120.2 16.25 8.43 470 3451.51 22.44 0.00 3.70 0.938 0.000 0.116 2023.44 2105.44 1941.44 1988.62 3617.50 0 0 0 11.74 30.00 15.84

3480.54 11431 260.32 1.33 0.00 2020.2 2100.4 1939.9 1990.6 3617.6 11.22 8.74 482 3506.40 17.77 0.19 3.46 0.899 0.100 0.052 1939.78 2026.69 1852.88 2029.50 2120.56 0 0 0 11.70 15.87 15.89

3603 end climb: SURFACE_DEPTH_REACHED

state 3603 begin surface coast

3638 end surface coast: CONTROL_FINISHED_OK

state 3638 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	603.25	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	170	COMM_SEQ	15	C_VBD	3000	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	70	T_RSLEEP	3	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	1700	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	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18.644285	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.573235	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	24.081511	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	-188.51822	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	210522,201650,4736.495,-12256.596,2,1.1,5,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210522,202001,4736.479,-12256.600,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	349.1,997,-17.3,-9.697,-21.02,2224,0.144
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,0.026336,0.017009,-0.002088,1.079494,-0.041863,0.021636,-0.069830,1.053286,462.883667,-1287.684814,-265.922333
TGT_LATLONG	4737.000,-12256.400

NAV	1653168014,2.9,0,stop	FG_AHR_24Vo	24.249
NET	CAXST,7,20220521,212010.290019,3,0,200,5000,10000,1,241,235,0,0,1,5,0,10000*5D	FG_AHR_10Vo	18.610
NET_PING	1653166819,235,1680.335938,12.200000,-3.244350	MEM0	60148,1,0,0
FINISH	0.9,1.020296	MEM1	65508,1,0,0
SM_CCo	3900.53,238.74,0.914,0,541.5,613.8,469.2,603.08	MEM2	944704,30,101984,64
SM_GC	1.52,238.74,11.50,0.09,0.914,0.085,0.150,541.5,613.8,469.2,193.4,2179.1,0,0,0,11.60,15.86,15.89	DATA_FILE_SIZE	12903,513
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	298026,0
IRIDIUM_FIX	4737.46,-12258.89,210522,190739	SDSIZE	3887104,3872448
TCM_TEMP	12.71	SDFILEDIR	70,1
SC_FREEKB	3877184	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.055, 25.6,1
HUMID	48.14	MAGCAL	1.000000,-0.005217,0.041964,0.009388,1.067647,-0.041879,-0.020396,-0.063624,1.035092,433.8,-1281.7,-264.7,30,0.0282,0
TEMP	10.20	IMPLIED_C_PITCH	1747,18.04,293,1723.3,18.34
INTERNAL_PRESSURE	8.08599	IMPLIED_C_VBD	2922,22.104065,293,2960.8
_24V_AH	14.77,4.168	GPS	210522,212600,4737.035,-12256.474,4,2.0,9,15.5
_10V_AH	14.80,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	682	1125	11343.79	nil	0	0	0.00
Pitch_motor	26	283	112.19	nil	0	0	0.00
Roll_motor	64	190	182.39	nil	0	0	0.00
Iridium	127	204	384.88	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.90	nil	0	0	0.00
Core	2088	5	158.28	SciCon	3645	6	369.80
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1742	0	8.25
Compass	1037	5	76.76
RAFOS	2421	40	1433.68
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
6.49	16386	-143.25	-1.11	0.00	537.0	611.3	462.8	195.1	2110.5	0.00	0.00	0	110.37	101.36	0.00	0.00	0.005	0.000	0.000	2786.81	2756.19	2817.44	195.00	2110.06	0	0	0	15.63	30.00	30.00
110.60	18727	-146.63	-1.11	80.00	2785.9	2755.8	2816.1	194.8	2109.8	3.46	-4.47	19	152.92	24.33	10.07	3.69	0.006	0.283	0.111	3596.34	3585.19	3607.50	1431.00	3618.31	0	0	0	15.79	15.62	15.74
195.98	3205	-146.63	-0.77	0.00	3597.4	3587.1	3607.7	1431.3	3618.7	15.11	-16.72	36	201.73	0.00	0.58	3.45	0.000	0.192	0.053	3597.47	3587.94	3607.00	1513.62	2119.75	0	0	0	30.00	15.72	15.78
385.99	0	-146.63	-0.77	0.00	3598.2	3593.8	3602.6	1513.5	2120.1	36.88	-9.92	74	390.12	0.00	0.00	0.00	0.000	0.000	0.000	3598.12	3594.00	3602.25	1513.25	2119.44	0	0	0	30.00	30.00	30.00
571.02	292	-146.63	-0.77	80.00	3598.0	3594.0	3602.1	1513.0	2119.2	53.82	-9.54	107	576.00	0.00	0.00	3.69	0.000	0.000	0.112	3598.50	3595.25	3601.75	1513.38	3617.56	0	0	0	30.00	30.00	15.88
641.03	1156	-146.63	-0.70	0.00	3597.8	3594.4	3601.2	1513.6	3617.6	61.24	-10.58	121	645.93	0.00	0.00	3.45	0.000	0.000	0.052	3599.19	3595.81	3602.56	1513.31	2118.25	0	0	0	30.00	30.00	15.92
831.04	292	-146.63	-0.70	80.00	3598.2	3595.4	3601.1	1513.1	2118.2	78.37	-8.78	141	835.97	0.00	0.00	3.68	0.000	0.000	0.111	3598.38	3594.94	3601.81	1513.69	3617.69	0	0	0	30.00	30.00	15.92
891.05	3205	-146.63	-0.65	0.00	3597.8	3593.7	3601.9	1514.4	3617.9	84.58	-10.65	153	896.01	0.00	0.19	3.43	0.000	0.186	0.051	3598.41	3595.25	3601.56	1540.88	2118.25	0	0	0	30.00	15.89	15.96
1081.08	420	-146.63	-0.74	80.00	3598.9	3595.8	3602.1	1541.5	2118.2	99.98	-7.83	173	1086.00	0.00	0.00	3.67	0.000	0.000	0.112	3599.28	3596.19	3602.38	1541.12	3616.44	0	0	0	30.00	30.00	15.98
1125.35	5285	-146.63	-0.77	0.00	3598.6	3596.1	3601.1	1541.1	3616.1	104.13	-9.36	182	1131.77	0.00	0.27	3.42	0.000	0.090	0.051	3599.53	3597.06	3602.00	1500.31	2117.75	0	0	0	30.00	16.00	16.02
1319.07	0	-146.63	-0.77	0.00	3599.0	3595.7	3602.3	1500.1	2116.6	123.61	-10.28	202	1320.40	0.00	0.00	0.00	0.000	0.000	0.000	3597.88	3595.38	3600.38	1500.44	2116.75	0	0	0	30.00	30.00	30.00
1509.07	260	-146.63	-0.77	80.00	3599.0	3596.2	3601.7	1500.5	2117.2	142.81	-10.26	221	1514.02	0.00	0.00	3.66	0.000	0.000	0.112	3599.25	3596.25	3602.25	1500.06	3621.38	0	0	0	30.00	30.00	16.04
1573.37	3205	-146.63	-0.70	0.00	3598.7	3596.0	3601.3	1500.3	3620.9	150.47	-11.99	234	1579.80	0.00	0.26	3.42	0.000	0.179	0.052	3599.44	3596.62	3602.25	1530.69	2119.44	0	0	0	30.00	16.02	16.07
1689	end dive: TARGET_DEPTH_EXCEEDED
state	1689	begin apogee
1690.22	10243	0.00	-0.27	0.00	3599.1	3596.8	3601.4	1531.3	2180.7	160.67	-8.56	246	1803.40	110.62	0.73	0.10	1.125	0.159	0.191	2998.59	3051.25	2945.94	1635.19	2113.00	0	0	0	11.78	16.03	15.69
1804	end apogee: CONTROL_FINISHED_OK
state	1804	begin climb
1804.26	10243	146.63	1.11	0.00	2999.1	3051.8	2946.4	1635.1	2113.4	165.78	0.00	257	1923.75	114.57	2.38	0.00	1.076	0.141	0.000	2399.41	2468.31	2330.50	1970.25	2113.81	0	0	0	11.56	15.66	30.00
2109.11	8226	163.30	1.13	0.00	2396.1	2460.0	2332.2	1969.9	2113.3	143.32	8.93	288	2125.36	14.81	0.00	0.00	0.961	0.000	0.000	2334.78	2401.88	2267.69	1970.69	2113.12	0	0	0	11.54	30.00	30.00
2309.11	260	163.30	1.13	80.00	2330.9	2396.2	2265.5	1970.3	2113.1	124.23	9.88	308	2324.66	0.00	0.00	3.74	0.000	0.000	0.117	2331.56	2396.75	2266.38	1969.81	3619.44	0	0	0	30.00	30.00	15.80
2362.00	1156	163.30	1.05	0.00	2329.2	2393.6	2264.8	1970.2	3619.1	118.08	11.82	317	2368.37	0.00	0.00	3.47	0.000	0.000	0.053	2330.59	2394.56	2266.62	1968.75	2121.88	0	0	0	30.00	30.00	15.84
2557.74	0	163.30	1.05	0.00	2329.6	2393.6	2265.6	1970.1	2121.9	98.38	10.40	337	2559.08	0.00	0.00	0.00	0.000	0.000	0.000	2327.47	2391.38	2263.56	1970.19	2122.00	0	0	0	30.00	30.00	30.00
2747.77	292	164.70	1.05	80.00	2329.4	2393.6	2265.2	1969.4	2121.9	79.28	9.63	356	2752.75	0.00	0.00	3.70	0.000	0.000	0.116	2329.47	2393.44	2265.50	1969.50	3616.69	0	0	0	30.00	30.00	15.89
2777.78	5253	164.70	1.00	0.00	2328.8	2392.0	2265.6	1970.2	3615.9	76.10	10.15	362	2782.76	0.00	0.28	3.44	0.000	0.182	0.052	2328.97	2392.44	2265.50	1937.62	2120.56	0	0	0	30.00	15.87	15.93
2967.81	10663	212.04	1.17	80.00	2328.9	2392.4	2265.4	1937.1	2120.4	61.58	7.52	382	3013.62	37.97	0.34	3.71	1.005	0.086	0.116	2136.31	2214.56	2058.06	1990.31	3616.38	0	0	0	11.63	15.94	15.81
3047.82	1156	212.04	1.12	0.00	2132.2	2208.4	2055.9	1990.4	3616.4	52.95	12.25	398	3052.71	0.00	0.00	3.46	0.000	0.000	0.051	2132.44	2208.94	2055.94	1989.25	2120.38	0	0	0	30.00	30.00	15.85
3235.50	128	212.04	1.16	0.00	2130.9	2205.7	2056.1	1990.4	2121.0	33.29	10.43	433	3239.61	0.00	0.00	0.00	0.000	0.000	0.000	2130.94	2205.94	2055.94	1991.06	2120.25	0	0	0	30.00	30.00	30.00
3420.54	8614	239.49	1.25	80.00	2130.4	2204.4	2056.4	1990.9	2120.2	16.25	8.43	470	3451.51	22.44	0.00	3.70	0.938	0.000	0.116	2023.44	2105.44	1941.44	1988.62	3617.50	0	0	0	11.74	30.00	15.84
3480.54	11431	260.32	1.33	0.00	2020.2	2100.4	1939.9	1990.6	3617.6	11.22	8.74	482	3506.40	17.77	0.19	3.46	0.899	0.100	0.052	1939.78	2026.69	1852.88	2029.50	2120.56	0	0	0	11.70	15.87	15.89
3603	end climb: SURFACE_DEPTH_REACHED
state	3603	begin surface coast
3638	end surface coast: CONTROL_FINISHED_OK
state	3638	begin surface