Glider dive log

HoodCanal 22May22 * SG241 * Dive index * Mission links * Dive 1 * 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 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 1 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 1 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 18.260246 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.832787 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 25.003849 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 -188.63794 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 1 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 18.832787 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 25.003849 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 18.260246 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 -188.63794 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 1 MISSION 5 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 220522,151943,4736.958,-12256.532,1,1.1,5,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,152304,4736.958,-12256.562,3,1.1,5,15.5 MHEAD_RNG_PITCHd_Wd 181.7,1856,-17.1,-9.697,-20.82,2278,0.063

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.026586,-0.023972,-0.003151,1.080886,-0.044367,-0.009805,-0.069672,1.102736,482.052582,-1284.123169,-301.331757

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653235819,110.6,0,stop FG_AHR_24Vo 25.172

NET CACST,8,0,20220522163011.170495,06,18327,42,0091,0150,07,01,01,00,01,1,025,241,0,5,1,0,150,9.9,2.91,-100,0.09,-01,0.18,57,10000,5000,0,-1,00,00*49 FG_AHR_10Vo 18.861

NET_PING 1653237012,25,1467.110962,9.900000,-0.947070 MEM0 60148,1,0,0

FINISH 0.7,1.020709 MEM1 65508,1,0,0

SM_CCo 4280.07,242.43,0.913,0,541.5,614.2,468.8,603.07 MEM2 931320,22,115428,69

SM_GC 1.48,242.43,11.33,0.09,0.913,0.087,0.144,541.5,614.2,468.8,194.7,2114.5,0,0,0,11.71,15.86,15.90 DATA_FILE_SIZE 16147,583

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 334920,0

IRIDIUM_FIX 4738.33,-12256.21,220522,151614 SDSIZE 3887104,3873408

TCM_TEMP 12.65 SDFILEDIR 45,1

SC_FREEKB 3878464 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.024,211.1,1

HUMID 48.26 MAGCAL 1.000000,0.027433,-0.072257,-0.007312,1.051031,0.004628,0.076369,-0.062763,1.007613,515.7,-1316.7,-221.3,23,0.0302,1

TEMP 9.85 IMPLIED_C_PITCH 1758,19.26,313,1729.0,18.76

INTERNAL_PRESSURE 8.06874 IMPLIED_C_VBD 3033,44.864487,313,3016.4

_24V_AH 14.74,4.955 GPS 220522,163527,4736.547,-12256.763,4,1.2,13,15.5

_10V_AH 14.74,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 709 1120 11710.26 nil 0 0 0.00

Pitch_motor 27 294 119.86 nil 0 0 0.00

Roll_motor 63 192 180.90 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.12 nil 0 0 0.00

Core 2169 5 163.72 SciCon 4005 6 407.63

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1891 0 8.92

Compass 1177 5 86.81

RAFOS 673 40 397.14

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

6.53 16386 -146.63 -1.12 0.00 540.7 632.0 449.4 198.3 2185.7 0.00 0.00 0 149.67 136.26 0.00 0.00 0.005 0.000 0.000 3267.25 3239.44 3295.06 198.56 2185.88 0 0 0 16.13 30.00 30.00

150.04 18983 -146.63 -1.12 -80.00 3266.2 3238.6 3293.8 198.4 2185.1 3.22 -2.20 27 186.32 11.10 9.98 3.66 0.007 0.295 0.110 3596.91 3587.81 3606.00 1428.62 680.81 0 0 0 16.13 15.94 16.04

199.76 3237 -146.63 -0.78 0.00 3597.2 3588.6 3605.8 1428.8 680.8 8.38 -9.27 36 206.74 0.00 0.59 3.40 0.000 0.203 0.049 3599.19 3590.75 3607.62 1511.19 2175.75 0 0 0 30.00 15.99 16.07

393.66 676 -146.63 -0.73 -80.00 3598.0 3594.5 3601.4 1510.6 2175.8 21.34 -6.13 74 404.02 0.00 0.00 3.63 0.000 0.000 0.107 3598.25 3594.88 3601.62 1510.75 682.06 0 0 0 30.00 30.00 16.04

632.48 3237 -146.63 -0.58 0.00 3598.8 3596.2 3601.4 1510.9 682.1 38.96 -7.65 122 639.37 0.00 0.34 3.41 0.000 0.186 0.048 3600.00 3597.62 3602.38 1558.75 2177.31 0 0 0 30.00 16.04 16.10

827.79 160 -146.63 -0.63 0.00 3599.3 3598.0 3600.6 1558.9 2177.6 50.79 -6.19 160 829.35 0.00 0.00 0.00 0.000 0.000 0.000 3599.06 3598.25 3599.88 1558.38 2177.88 0 0 0 30.00 30.00 30.00

1016.80 4517 -146.63 -0.68 80.00 3599.4 3598.0 3600.8 1558.8 2177.8 62.48 -6.27 179 1023.97 0.00 0.25 3.49 0.000 0.092 0.113 3600.34 3598.62 3602.06 1520.88 3618.88 0 0 0 30.00 16.11 16.10

1092.42 3237 -146.63 -0.54 0.00 3599.8 3598.8 3600.8 1520.7 3618.6 69.46 -9.68 194 1099.66 0.00 0.41 3.40 0.000 0.183 0.052 3600.81 3599.19 3602.44 1570.06 2114.00 0 0 0 30.00 16.08 16.12

1287.44 420 -146.63 -0.62 80.00 3599.7 3598.9 3600.5 1570.8 2114.6 82.62 -6.61 214 1294.48 0.00 0.00 3.66 0.000 0.000 0.111 3599.62 3598.75 3600.50 1571.06 3617.81 0 0 0 30.00 30.00 16.10

1352.92 5285 -146.63 -0.65 0.00 3599.8 3599.0 3600.6 1570.7 3617.4 87.88 -8.21 227 1360.04 0.00 0.26 3.39 0.000 0.093 0.051 3600.62 3599.44 3601.81 1528.75 2115.75 0 0 0 30.00 16.11 16.14

1547.87 292 -146.63 -0.65 80.00 3599.7 3598.9 3600.5 1528.6 2116.1 104.29 -8.36 247 1554.99 0.00 0.00 3.65 0.000 0.000 0.109 3599.03 3598.31 3599.75 1528.25 3617.00 0 0 0 30.00 30.00 16.12

1633.39 3205 -146.63 -0.57 0.00 3599.9 3598.9 3600.9 1528.9 3617.6 113.22 -10.73 264 1640.54 0.00 0.28 3.39 0.000 0.177 0.052 3599.06 3598.31 3599.81 1561.44 2118.06 0 0 0 30.00 16.10 16.15

1828.46 420 -146.63 -0.66 80.00 3599.8 3598.6 3601.0 1562.1 2117.1 127.72 -7.21 284 1835.49 0.00 0.00 3.63 0.000 0.000 0.111 3599.19 3598.31 3600.06 1562.19 3617.44 0 0 0 30.00 30.00 16.13

1878.21 5285 -146.63 -0.70 0.00 3599.7 3598.8 3600.6 1562.1 3617.2 131.90 -8.36 294 1885.75 0.00 0.28 3.38 0.000 0.094 0.052 3600.03 3599.19 3600.88 1516.81 2116.94 0 0 0 30.00 16.13 16.16

2073.88 292 -146.63 -0.70 80.00 3600.1 3599.6 3600.7 1516.4 2117.2 149.98 -9.41 314 2081.00 0.00 0.00 3.64 0.000 0.000 0.110 3600.81 3599.75 3601.88 1516.38 3618.44 0 0 0 30.00 30.00 16.14

2104 end dive: HALF_MISSION_TIME_EXCEEDED

state 2104 begin apogee

2109.60 10243 0.00 -0.27 0.00 3600.1 3598.8 3601.3 1516.2 2116.8 153.22 -10.14 320 2229.22 112.11 0.88 0.10 1.121 0.168 0.192 2998.47 3052.81 2944.12 1634.56 2182.44 0 0 0 11.82 16.12 15.72

2230 end apogee: CONTROL_FINISHED_OK

state 2230 begin climb

2230.28 10759 146.63 1.12 -80.00 2999.3 3053.2 2945.3 1633.5 2182.7 159.10 0.00 331 2363.12 114.89 2.40 3.79 1.074 0.142 0.115 2400.94 2470.56 2331.31 1971.69 682.25 0 0 0 11.59 15.70 15.46

2381.52 5253 146.63 1.02 0.00 2399.5 2467.6 2331.4 1972.2 681.9 149.21 10.43 359 2388.77 0.00 0.28 3.53 0.000 0.181 0.051 2397.75 2466.06 2329.44 1939.88 2172.62 0 0 0 30.00 15.49 15.56

2576.58 8354 164.20 1.08 0.00 2395.2 2460.9 2329.5 1940.4 2173.2 131.46 8.91 379 2596.46 15.40 0.00 0.00 0.957 0.000 0.000 2329.84 2399.69 2260.00 1940.19 2173.12 0 0 0 11.52 30.00 30.00

2786.58 10403 178.14 1.16 80.00 2326.9 2394.3 2259.6 1939.2 2173.4 112.62 9.07 401 2802.47 13.11 0.31 0.00 0.931 0.083 0.000 2270.91 2341.25 2200.56 1988.50 2173.12 0 0 0 11.64 15.80 30.00

2986.56 128 178.14 1.13 80.00 2270.8 2339.4 2202.2 1987.5 2173.2 91.28 10.91 421 2988.13 0.00 0.00 0.00 0.000 0.000 0.000 2269.97 2338.94 2201.00 1988.38 2173.31 0 0 0 30.00 30.00 30.00

3176.49 0 178.14 1.13 80.00 2270.4 2338.7 2202.1 1988.1 2173.4 70.76 10.78 440 3178.06 0.00 0.00 0.00 0.000 0.000 0.000 2268.81 2337.00 2200.62 1988.06 2173.12 0 0 0 30.00 30.00 30.00

3366.50 0 178.14 1.13 80.00 2270.0 2338.1 2201.9 1988.0 2173.2 51.88 9.92 459 3368.07 0.00 0.00 0.00 0.000 0.000 0.000 2269.00 2337.56 2200.44 1988.25 2173.12 0 0 0 30.00 30.00 30.00

3552.50 32 179.15 1.13 80.00 2269.5 2336.8 2202.2 1987.8 2172.9 33.53 9.65 494 3556.97 0.00 0.00 0.00 0.000 0.000 0.000 2269.75 2337.06 2202.44 1988.38 2173.25 0 0 0 30.00 30.00 30.00

3737.51 8742 215.97 1.17 -80.00 2269.3 2336.2 2202.3 1988.2 2173.2 16.30 8.04 531 3775.96 30.55 0.00 3.66 0.953 0.000 0.115 2119.25 2198.94 2039.56 1988.12 682.19 0 0 0 11.76 30.00 15.91

3784.39 9382 257.27 1.26 0.00 2118.4 2197.8 2039.1 1988.2 681.8 12.64 7.84 540 3827.71 33.17 0.00 3.45 0.927 0.000 0.051 1950.56 2041.62 1859.50 1988.69 2175.44 0 0 0 11.74 30.00 15.95

3956 end climb: SURFACE_DEPTH_REACHED

state 3956 begin surface coast

4003 end surface coast: CONTROL_FINISHED_OK

state 4003 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	1	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	1	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	18.260246	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.832787	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	25.003849	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	-188.63794	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	220522,151943,4736.958,-12256.532,1,1.1,5,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,152304,4736.958,-12256.562,3,1.1,5,15.5	MHEAD_RNG_PITCHd_Wd	181.7,1856,-17.1,-9.697,-20.82,2278,0.063
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.026586,-0.023972,-0.003151,1.080886,-0.044367,-0.009805,-0.069672,1.102736,482.052582,-1284.123169,-301.331757
TGT_LATLONG	4736.000,-12257.000

NAV	1653235819,110.6,0,stop	FG_AHR_24Vo	25.172
NET	CACST,8,0,20220522163011.170495,06,18327,42,0091,0150,07,01,01,00,01,1,025,241,0,5,1,0,150,9.9,2.91,-100,0.09,-01,0.18,57,10000,5000,0,-1,00,00*49	FG_AHR_10Vo	18.861
NET_PING	1653237012,25,1467.110962,9.900000,-0.947070	MEM0	60148,1,0,0
FINISH	0.7,1.020709	MEM1	65508,1,0,0
SM_CCo	4280.07,242.43,0.913,0,541.5,614.2,468.8,603.07	MEM2	931320,22,115428,69
SM_GC	1.48,242.43,11.33,0.09,0.913,0.087,0.144,541.5,614.2,468.8,194.7,2114.5,0,0,0,11.71,15.86,15.90	DATA_FILE_SIZE	16147,583
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	334920,0
IRIDIUM_FIX	4738.33,-12256.21,220522,151614	SDSIZE	3887104,3873408
TCM_TEMP	12.65	SDFILEDIR	45,1
SC_FREEKB	3878464	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.024,211.1,1
HUMID	48.26	MAGCAL	1.000000,0.027433,-0.072257,-0.007312,1.051031,0.004628,0.076369,-0.062763,1.007613,515.7,-1316.7,-221.3,23,0.0302,1
TEMP	9.85	IMPLIED_C_PITCH	1758,19.26,313,1729.0,18.76
INTERNAL_PRESSURE	8.06874	IMPLIED_C_VBD	3033,44.864487,313,3016.4
_24V_AH	14.74,4.955	GPS	220522,163527,4736.547,-12256.763,4,1.2,13,15.5
_10V_AH	14.74,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	709	1120	11710.26	nil	0	0	0.00
Pitch_motor	27	294	119.86	nil	0	0	0.00
Roll_motor	63	192	180.90	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.12	nil	0	0	0.00
Core	2169	5	163.72	SciCon	4005	6	407.63
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1891	0	8.92
Compass	1177	5	86.81
RAFOS	673	40	397.14
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
6.53	16386	-146.63	-1.12	0.00	540.7	632.0	449.4	198.3	2185.7	0.00	0.00	0	149.67	136.26	0.00	0.00	0.005	0.000	0.000	3267.25	3239.44	3295.06	198.56	2185.88	0	0	0	16.13	30.00	30.00
150.04	18983	-146.63	-1.12	-80.00	3266.2	3238.6	3293.8	198.4	2185.1	3.22	-2.20	27	186.32	11.10	9.98	3.66	0.007	0.295	0.110	3596.91	3587.81	3606.00	1428.62	680.81	0	0	0	16.13	15.94	16.04
199.76	3237	-146.63	-0.78	0.00	3597.2	3588.6	3605.8	1428.8	680.8	8.38	-9.27	36	206.74	0.00	0.59	3.40	0.000	0.203	0.049	3599.19	3590.75	3607.62	1511.19	2175.75	0	0	0	30.00	15.99	16.07
393.66	676	-146.63	-0.73	-80.00	3598.0	3594.5	3601.4	1510.6	2175.8	21.34	-6.13	74	404.02	0.00	0.00	3.63	0.000	0.000	0.107	3598.25	3594.88	3601.62	1510.75	682.06	0	0	0	30.00	30.00	16.04
632.48	3237	-146.63	-0.58	0.00	3598.8	3596.2	3601.4	1510.9	682.1	38.96	-7.65	122	639.37	0.00	0.34	3.41	0.000	0.186	0.048	3600.00	3597.62	3602.38	1558.75	2177.31	0	0	0	30.00	16.04	16.10
827.79	160	-146.63	-0.63	0.00	3599.3	3598.0	3600.6	1558.9	2177.6	50.79	-6.19	160	829.35	0.00	0.00	0.00	0.000	0.000	0.000	3599.06	3598.25	3599.88	1558.38	2177.88	0	0	0	30.00	30.00	30.00
1016.80	4517	-146.63	-0.68	80.00	3599.4	3598.0	3600.8	1558.8	2177.8	62.48	-6.27	179	1023.97	0.00	0.25	3.49	0.000	0.092	0.113	3600.34	3598.62	3602.06	1520.88	3618.88	0	0	0	30.00	16.11	16.10
1092.42	3237	-146.63	-0.54	0.00	3599.8	3598.8	3600.8	1520.7	3618.6	69.46	-9.68	194	1099.66	0.00	0.41	3.40	0.000	0.183	0.052	3600.81	3599.19	3602.44	1570.06	2114.00	0	0	0	30.00	16.08	16.12
1287.44	420	-146.63	-0.62	80.00	3599.7	3598.9	3600.5	1570.8	2114.6	82.62	-6.61	214	1294.48	0.00	0.00	3.66	0.000	0.000	0.111	3599.62	3598.75	3600.50	1571.06	3617.81	0	0	0	30.00	30.00	16.10
1352.92	5285	-146.63	-0.65	0.00	3599.8	3599.0	3600.6	1570.7	3617.4	87.88	-8.21	227	1360.04	0.00	0.26	3.39	0.000	0.093	0.051	3600.62	3599.44	3601.81	1528.75	2115.75	0	0	0	30.00	16.11	16.14
1547.87	292	-146.63	-0.65	80.00	3599.7	3598.9	3600.5	1528.6	2116.1	104.29	-8.36	247	1554.99	0.00	0.00	3.65	0.000	0.000	0.109	3599.03	3598.31	3599.75	1528.25	3617.00	0	0	0	30.00	30.00	16.12
1633.39	3205	-146.63	-0.57	0.00	3599.9	3598.9	3600.9	1528.9	3617.6	113.22	-10.73	264	1640.54	0.00	0.28	3.39	0.000	0.177	0.052	3599.06	3598.31	3599.81	1561.44	2118.06	0	0	0	30.00	16.10	16.15
1828.46	420	-146.63	-0.66	80.00	3599.8	3598.6	3601.0	1562.1	2117.1	127.72	-7.21	284	1835.49	0.00	0.00	3.63	0.000	0.000	0.111	3599.19	3598.31	3600.06	1562.19	3617.44	0	0	0	30.00	30.00	16.13
1878.21	5285	-146.63	-0.70	0.00	3599.7	3598.8	3600.6	1562.1	3617.2	131.90	-8.36	294	1885.75	0.00	0.28	3.38	0.000	0.094	0.052	3600.03	3599.19	3600.88	1516.81	2116.94	0	0	0	30.00	16.13	16.16
2073.88	292	-146.63	-0.70	80.00	3600.1	3599.6	3600.7	1516.4	2117.2	149.98	-9.41	314	2081.00	0.00	0.00	3.64	0.000	0.000	0.110	3600.81	3599.75	3601.88	1516.38	3618.44	0	0	0	30.00	30.00	16.14
2104	end dive: HALF_MISSION_TIME_EXCEEDED
state	2104	begin apogee
2109.60	10243	0.00	-0.27	0.00	3600.1	3598.8	3601.3	1516.2	2116.8	153.22	-10.14	320	2229.22	112.11	0.88	0.10	1.121	0.168	0.192	2998.47	3052.81	2944.12	1634.56	2182.44	0	0	0	11.82	16.12	15.72
2230	end apogee: CONTROL_FINISHED_OK
state	2230	begin climb
2230.28	10759	146.63	1.12	-80.00	2999.3	3053.2	2945.3	1633.5	2182.7	159.10	0.00	331	2363.12	114.89	2.40	3.79	1.074	0.142	0.115	2400.94	2470.56	2331.31	1971.69	682.25	0	0	0	11.59	15.70	15.46
2381.52	5253	146.63	1.02	0.00	2399.5	2467.6	2331.4	1972.2	681.9	149.21	10.43	359	2388.77	0.00	0.28	3.53	0.000	0.181	0.051	2397.75	2466.06	2329.44	1939.88	2172.62	0	0	0	30.00	15.49	15.56
2576.58	8354	164.20	1.08	0.00	2395.2	2460.9	2329.5	1940.4	2173.2	131.46	8.91	379	2596.46	15.40	0.00	0.00	0.957	0.000	0.000	2329.84	2399.69	2260.00	1940.19	2173.12	0	0	0	11.52	30.00	30.00
2786.58	10403	178.14	1.16	80.00	2326.9	2394.3	2259.6	1939.2	2173.4	112.62	9.07	401	2802.47	13.11	0.31	0.00	0.931	0.083	0.000	2270.91	2341.25	2200.56	1988.50	2173.12	0	0	0	11.64	15.80	30.00
2986.56	128	178.14	1.13	80.00	2270.8	2339.4	2202.2	1987.5	2173.2	91.28	10.91	421	2988.13	0.00	0.00	0.00	0.000	0.000	0.000	2269.97	2338.94	2201.00	1988.38	2173.31	0	0	0	30.00	30.00	30.00
3176.49	0	178.14	1.13	80.00	2270.4	2338.7	2202.1	1988.1	2173.4	70.76	10.78	440	3178.06	0.00	0.00	0.00	0.000	0.000	0.000	2268.81	2337.00	2200.62	1988.06	2173.12	0	0	0	30.00	30.00	30.00
3366.50	0	178.14	1.13	80.00	2270.0	2338.1	2201.9	1988.0	2173.2	51.88	9.92	459	3368.07	0.00	0.00	0.00	0.000	0.000	0.000	2269.00	2337.56	2200.44	1988.25	2173.12	0	0	0	30.00	30.00	30.00
3552.50	32	179.15	1.13	80.00	2269.5	2336.8	2202.2	1987.8	2172.9	33.53	9.65	494	3556.97	0.00	0.00	0.00	0.000	0.000	0.000	2269.75	2337.06	2202.44	1988.38	2173.25	0	0	0	30.00	30.00	30.00
3737.51	8742	215.97	1.17	-80.00	2269.3	2336.2	2202.3	1988.2	2173.2	16.30	8.04	531	3775.96	30.55	0.00	3.66	0.953	0.000	0.115	2119.25	2198.94	2039.56	1988.12	682.19	0	0	0	11.76	30.00	15.91
3784.39	9382	257.27	1.26	0.00	2118.4	2197.8	2039.1	1988.2	681.8	12.64	7.84	540	3827.71	33.17	0.00	3.45	0.927	0.000	0.051	1950.56	2041.62	1859.50	1988.69	2175.44	0	0	0	11.74	30.00	15.95
3956	end climb: SURFACE_DEPTH_REACHED
state	3956	begin surface coast
4003	end surface coast: CONTROL_FINISHED_OK
state	4003	begin surface