Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 20 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 11 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 7 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 175 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 55 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 85 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2030 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 159.29349 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.866687 FG_AHR_24V 206.4325 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.7531 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72383 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 0 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 160 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 159.29349 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 206.4325 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.866687 SM_CC 590.98499

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.5 PM_PROFILE 3.0 T_DIVE 55

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2030 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 85

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 1

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 2950 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72383 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.023 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 20 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 11 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 175 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 0 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 0 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 250522,124817,4736.548,-12256.555,1,1.2,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,125219,4736.603,-12256.496,3,1.2,5,15.5 MHEAD_RNG_PITCHd_Wd 193.9,1281,-17.1,-9.697,-20.82,2278,0.142

SPEED_LIMITS 0.168,0.255 D_GRID 169

TGT_NAME S IRON 1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653485714,110.5,0,stop _24V_AH 14.80,112.478

MODEM_MSG CACST,8,0,20220525130001.214245,18,1315,25,0112,0000,246,03,03,01,03,1,025,121,0,5,1,0,150,3.8,4.54,-100,-1.54,-01,-0.15,65,925,0025,0,1,00,00*0C _10V_AH 14.76,0.000

FREEZE 1.41,12.524,-1.479,0,1,0 FG_AHR_24Vo 206.622

FINISH 1.4,1.020409 FG_AHR_10Vo 159.334

SM_CCo 3914.44,269.61,1.132,0,541.4,609.5,473.3,590.83 MEM0 60132,1,0,0

SM_GC 1.41,269.61,13.22,2.69,1.132,0.080,0.062,541.4,609.5,473.3,216.4,2720.9,0,0,0,12.05,15.80,15.85 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 942840,27,103608,79

IRIDIUM_FIX 4735.14,-12301.57,250522,113947 DATA_FILE_SIZE 12930,523

TCM_TEMP 13.17 CAP_FILE_SIZE 360191,0

SC_FREEKB 3875168 SDSIZE 3918848,3879392

PM_FREEKB_00 61352256 SDFILEDIR 355,3

PM_ACTIVECARD 0 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 MAGCAL 1.000000,-0.049747,-0.137294,-0.078581,1.117041,-0.009921,0.067983,-0.032546,1.152282,-864.3,-1074.9,-41.7,24,0.0220,0

HUMID 48.61 IMPLIED_C_PITCH 2011,15.82,267,2020.6,15.84

TEMP 10.21 IMPLIED_C_VBD 3092,23.493876,267,3021.0

INTERNAL_PRESSURE 7.91157 GPS 250522,135910,4736.483,-12256.543,22,0.9,23,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 642 1347 12822.39 nil 0 0 0.00

Pitch_motor 29 258 111.21 nil 0 0 0.00

Roll_motor 49 240 175.05 nil 0 0 0.00

Iridium 149 219 487.11 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 2227 5 168.32 SciCon 3612 6 345.84

Fast 0 0 0.00 PMAR 3617 17 947.99

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1622 0 7.66

Compass 1062 5 78.41

RAFOS 863 40 509.80

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.05 16386 -146.63 -1.26 0.00 537.4 598.6 476.2 216.4 2724.2 0.00 0.00 0 109.54 94.65 0.00 0.00 0.005 0.000 0.000 2756.28 2757.12 2755.44 216.69 2724.38 0 0 0 15.23 30.00 30.00

109.80 18467 -146.63 -1.26 0.00 2754.7 2755.9 2753.4 216.3 2724.8 3.27 -2.05 18 153.92 22.50 11.81 0.00 0.006 0.258 0.000 3545.53 3569.88 3521.19 1725.06 2724.25 0 0 0 15.78 15.63 30.00

337.27 32 -146.63 -1.26 80.00 3548.3 3574.9 3521.8 1724.9 2723.7 21.99 -7.62 63 341.74 0.00 0.00 0.00 0.000 0.000 0.000 3546.75 3573.44 3520.06 1725.25 2724.25 0 0 0 30.00 30.00 30.00

526.17 292 -146.63 -1.26 80.00 3548.1 3575.0 3521.2 1725.0 2722.9 36.01 -7.58 99 532.61 0.00 0.00 2.96 0.000 0.000 0.122 3548.72 3575.62 3521.81 1724.56 3911.50 0 0 0 30.00 30.00 15.79

650.70 1028 -146.63 -1.26 0.00 3547.8 3574.6 3520.9 1725.4 3909.9 46.40 -8.31 123 657.05 0.00 0.00 2.71 0.000 0.000 0.066 3548.62 3575.25 3522.00 1725.50 2724.00 0 0 0 30.00 30.00 15.85

840.75 32 -146.63 -1.26 0.00 3548.8 3576.5 3521.2 1725.6 2724.3 59.43 -6.84 147 842.31 0.00 0.00 0.00 0.000 0.000 0.000 3548.16 3576.06 3520.25 1724.62 2724.00 0 0 0 30.00 30.00 30.00

1025.77 292 -146.63 -1.26 80.00 3549.4 3577.3 3521.5 1724.8 2723.5 73.20 -7.60 166 1031.48 0.00 0.00 2.96 0.000 0.000 0.122 3549.34 3576.56 3522.12 1724.75 3911.62 0 0 0 30.00 30.00 15.87

1095.74 1028 -146.63 -1.26 0.00 3548.4 3575.9 3520.9 1724.2 3910.9 79.24 -8.80 180 1101.40 0.00 0.00 2.71 0.000 0.000 0.067 3549.19 3576.50 3521.88 1725.62 2725.44 0 0 0 30.00 30.00 15.92

1285.76 260 -146.63 -1.26 80.00 3549.4 3577.5 3521.4 1724.9 2724.8 94.56 -8.24 200 1291.52 0.00 0.00 2.96 0.000 0.000 0.123 3549.38 3576.81 3521.94 1724.56 3911.81 0 0 0 30.00 30.00 15.90

1310.05 1028 -146.63 -1.26 0.00 3548.8 3576.4 3521.2 1724.6 3911.1 96.83 -8.62 205 1317.09 0.00 0.00 2.70 0.000 0.000 0.067 3548.66 3575.88 3521.44 1725.06 2724.12 0 0 0 30.00 30.00 15.94

1505.80 260 -146.63 -1.26 80.00 3549.3 3577.4 3521.2 1724.5 2724.8 113.24 -8.46 225 1511.56 0.00 0.00 2.97 0.000 0.000 0.124 3548.97 3577.94 3520.00 1724.69 3909.94 0 0 0 30.00 30.00 15.92

1550.09 1028 -146.63 -1.26 0.00 3549.8 3577.7 3522.0 1725.2 3911.2 117.40 -9.34 234 1557.14 0.00 0.00 2.69 0.000 0.000 0.069 3549.53 3577.38 3521.69 1725.12 2726.94 0 0 0 30.00 30.00 15.96

1744.83 0 -146.63 -1.26 0.00 3549.1 3576.4 3521.9 1725.0 2725.9 134.05 -8.63 254 1746.39 0.00 0.00 0.00 0.000 0.000 0.000 3547.91 3576.00 3519.81 1724.62 2726.06 0 0 0 30.00 30.00 30.00

1934.86 0 -146.63 -1.26 0.00 3547.2 3574.8 3519.6 1724.9 2725.6 150.89 -9.01 273 1936.42 0.00 0.00 0.00 0.000 0.000 0.000 3547.59 3575.06 3520.12 1726.56 2727.06 0 0 0 30.00 30.00 30.00

2035 end dive: TARGET_DEPTH_EXCEEDED

state 2035 begin apogee

2036.31 10243 0.00 -0.32 0.00 3549.3 3576.3 3522.3 1725.1 2572.9 160.03 -9.15 283 2151.08 105.44 1.53 0.08 1.348 0.140 0.240 2948.62 3017.56 2879.69 1955.38 2623.69 0 0 0 12.20 15.96 15.54

2154 end apogee: CONTROL_FINISHED_OK

state 2154 begin climb

2154.55 10759 146.63 1.26 -80.00 2946.8 3013.9 2879.8 1955.1 2622.0 162.59 0.00 294 2281.21 110.28 2.55 3.68 1.286 0.094 0.134 2348.34 2431.44 2265.25 2339.06 1190.38 0 0 0 11.85 15.55 15.29

2288.88 1028 146.63 1.26 0.00 2346.2 2427.7 2264.8 2339.4 1189.6 148.99 15.16 317 2296.37 0.00 0.00 3.44 0.000 0.000 0.060 2344.91 2425.94 2263.88 2339.00 2623.38 0 0 0 30.00 30.00 15.38

2484.63 16646 146.63 1.26 80.00 2342.5 2421.4 2263.6 2337.9 2622.3 119.33 15.23 337 2490.59 0.00 0.00 3.33 0.000 0.000 0.125 2343.69 2422.06 2265.31 2338.56 3909.00 0 0 0 30.00 30.00 15.59

2548.90 17414 146.63 1.26 0.00 2341.6 2420.6 2262.6 2338.8 3909.2 108.88 16.04 350 2556.23 0.00 0.00 3.13 0.000 0.000 0.070 2340.62 2418.25 2263.00 2339.69 2578.00 0 0 0 30.00 30.00 15.67

2744.65 16646 146.63 1.26 80.00 2340.8 2419.3 2262.2 2339.1 2578.1 79.74 14.65 370 2750.59 0.00 0.00 3.40 0.000 0.000 0.120 2342.00 2420.12 2263.88 2338.31 3909.50 0 0 0 30.00 30.00 15.74

2778.92 17414 146.63 1.26 0.00 2339.4 2416.9 2261.8 2338.4 3908.6 74.41 15.44 377 2786.19 0.00 0.00 3.07 0.000 0.000 0.068 2339.25 2415.56 2262.94 2339.19 2576.06 0 0 0 30.00 30.00 15.79

2967.70 16386 146.63 1.26 0.00 2339.4 2417.3 2261.5 2339.4 2575.4 48.40 13.20 398 2972.25 0.00 0.00 0.00 0.000 0.000 0.000 2338.16 2416.00 2260.31 2338.56 2576.38 0 0 0 30.00 30.00 30.00

3156.69 16386 146.63 1.26 0.00 2339.9 2417.2 2262.6 2338.9 2575.7 24.50 12.62 435 3161.24 0.00 0.00 0.00 0.000 0.000 0.000 2337.84 2415.69 2260.00 2339.12 2576.44 0 0 0 30.00 30.00 30.00

3341.85 8486 200.23 1.32 80.00 2339.6 2417.4 2261.8 2339.8 2576.6 5.55 7.29 472 3390.53 40.47 0.00 3.36 1.133 0.000 0.118 2131.75 2217.25 2046.25 2338.88 3909.19 0 0 0 12.12 30.00 15.72

3529 end climb: SURFACE_DEPTH_REACHED

state 3529 begin surface coast

3599 end surface coast: CONTROL_FINISHED_OK

state 3599 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	20	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	11	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	7	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	175	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	55	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	85	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2030	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	159.29349	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.866687	FG_AHR_24V	206.4325	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.7531	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72383	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	0	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	250522,124817,4736.548,-12256.555,1,1.2,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,125219,4736.603,-12256.496,3,1.2,5,15.5	MHEAD_RNG_PITCHd_Wd	193.9,1281,-17.1,-9.697,-20.82,2278,0.142
SPEED_LIMITS	0.168,0.255	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819
TGT_LATLONG	4736.000,-12257.000

NAV	1653485714,110.5,0,stop	_24V_AH	14.80,112.478
MODEM_MSG	CACST,8,0,20220525130001.214245,18,1315,25,0112,0000,246,03,03,01,03,1,025,121,0,5,1,0,150,3.8,4.54,-100,-1.54,-01,-0.15,65,925,0025,0,1,00,00*0C	_10V_AH	14.76,0.000
FREEZE	1.41,12.524,-1.479,0,1,0	FG_AHR_24Vo	206.622
FINISH	1.4,1.020409	FG_AHR_10Vo	159.334
SM_CCo	3914.44,269.61,1.132,0,541.4,609.5,473.3,590.83	MEM0	60132,1,0,0
SM_GC	1.41,269.61,13.22,2.69,1.132,0.080,0.062,541.4,609.5,473.3,216.4,2720.9,0,0,0,12.05,15.80,15.85	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	942840,27,103608,79
IRIDIUM_FIX	4735.14,-12301.57,250522,113947	DATA_FILE_SIZE	12930,523
TCM_TEMP	13.17	CAP_FILE_SIZE	360191,0
SC_FREEKB	3875168	SDSIZE	3918848,3879392
PM_FREEKB_00	61352256	SDFILEDIR	355,3
PM_ACTIVECARD	0	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	MAGCAL	1.000000,-0.049747,-0.137294,-0.078581,1.117041,-0.009921,0.067983,-0.032546,1.152282,-864.3,-1074.9,-41.7,24,0.0220,0
HUMID	48.61	IMPLIED_C_PITCH	2011,15.82,267,2020.6,15.84
TEMP	10.21	IMPLIED_C_VBD	3092,23.493876,267,3021.0
INTERNAL_PRESSURE	7.91157	GPS	250522,135910,4736.483,-12256.543,22,0.9,23,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	642	1347	12822.39	nil	0	0	0.00
Pitch_motor	29	258	111.21	nil	0	0	0.00
Roll_motor	49	240	175.05	nil	0	0	0.00
Iridium	149	219	487.11	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	2227	5	168.32	SciCon	3612	6	345.84
Fast	0	0	0.00	PMAR	3617	17	947.99
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1622	0	7.66
Compass	1062	5	78.41
RAFOS	863	40	509.80
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.05	16386	-146.63	-1.26	0.00	537.4	598.6	476.2	216.4	2724.2	0.00	0.00	0	109.54	94.65	0.00	0.00	0.005	0.000	0.000	2756.28	2757.12	2755.44	216.69	2724.38	0	0	0	15.23	30.00	30.00
109.80	18467	-146.63	-1.26	0.00	2754.7	2755.9	2753.4	216.3	2724.8	3.27	-2.05	18	153.92	22.50	11.81	0.00	0.006	0.258	0.000	3545.53	3569.88	3521.19	1725.06	2724.25	0	0	0	15.78	15.63	30.00
337.27	32	-146.63	-1.26	80.00	3548.3	3574.9	3521.8	1724.9	2723.7	21.99	-7.62	63	341.74	0.00	0.00	0.00	0.000	0.000	0.000	3546.75	3573.44	3520.06	1725.25	2724.25	0	0	0	30.00	30.00	30.00
526.17	292	-146.63	-1.26	80.00	3548.1	3575.0	3521.2	1725.0	2722.9	36.01	-7.58	99	532.61	0.00	0.00	2.96	0.000	0.000	0.122	3548.72	3575.62	3521.81	1724.56	3911.50	0	0	0	30.00	30.00	15.79
650.70	1028	-146.63	-1.26	0.00	3547.8	3574.6	3520.9	1725.4	3909.9	46.40	-8.31	123	657.05	0.00	0.00	2.71	0.000	0.000	0.066	3548.62	3575.25	3522.00	1725.50	2724.00	0	0	0	30.00	30.00	15.85
840.75	32	-146.63	-1.26	0.00	3548.8	3576.5	3521.2	1725.6	2724.3	59.43	-6.84	147	842.31	0.00	0.00	0.00	0.000	0.000	0.000	3548.16	3576.06	3520.25	1724.62	2724.00	0	0	0	30.00	30.00	30.00
1025.77	292	-146.63	-1.26	80.00	3549.4	3577.3	3521.5	1724.8	2723.5	73.20	-7.60	166	1031.48	0.00	0.00	2.96	0.000	0.000	0.122	3549.34	3576.56	3522.12	1724.75	3911.62	0	0	0	30.00	30.00	15.87
1095.74	1028	-146.63	-1.26	0.00	3548.4	3575.9	3520.9	1724.2	3910.9	79.24	-8.80	180	1101.40	0.00	0.00	2.71	0.000	0.000	0.067	3549.19	3576.50	3521.88	1725.62	2725.44	0	0	0	30.00	30.00	15.92
1285.76	260	-146.63	-1.26	80.00	3549.4	3577.5	3521.4	1724.9	2724.8	94.56	-8.24	200	1291.52	0.00	0.00	2.96	0.000	0.000	0.123	3549.38	3576.81	3521.94	1724.56	3911.81	0	0	0	30.00	30.00	15.90
1310.05	1028	-146.63	-1.26	0.00	3548.8	3576.4	3521.2	1724.6	3911.1	96.83	-8.62	205	1317.09	0.00	0.00	2.70	0.000	0.000	0.067	3548.66	3575.88	3521.44	1725.06	2724.12	0	0	0	30.00	30.00	15.94
1505.80	260	-146.63	-1.26	80.00	3549.3	3577.4	3521.2	1724.5	2724.8	113.24	-8.46	225	1511.56	0.00	0.00	2.97	0.000	0.000	0.124	3548.97	3577.94	3520.00	1724.69	3909.94	0	0	0	30.00	30.00	15.92
1550.09	1028	-146.63	-1.26	0.00	3549.8	3577.7	3522.0	1725.2	3911.2	117.40	-9.34	234	1557.14	0.00	0.00	2.69	0.000	0.000	0.069	3549.53	3577.38	3521.69	1725.12	2726.94	0	0	0	30.00	30.00	15.96
1744.83	0	-146.63	-1.26	0.00	3549.1	3576.4	3521.9	1725.0	2725.9	134.05	-8.63	254	1746.39	0.00	0.00	0.00	0.000	0.000	0.000	3547.91	3576.00	3519.81	1724.62	2726.06	0	0	0	30.00	30.00	30.00
1934.86	0	-146.63	-1.26	0.00	3547.2	3574.8	3519.6	1724.9	2725.6	150.89	-9.01	273	1936.42	0.00	0.00	0.00	0.000	0.000	0.000	3547.59	3575.06	3520.12	1726.56	2727.06	0	0	0	30.00	30.00	30.00
2035	end dive: TARGET_DEPTH_EXCEEDED
state	2035	begin apogee
2036.31	10243	0.00	-0.32	0.00	3549.3	3576.3	3522.3	1725.1	2572.9	160.03	-9.15	283	2151.08	105.44	1.53	0.08	1.348	0.140	0.240	2948.62	3017.56	2879.69	1955.38	2623.69	0	0	0	12.20	15.96	15.54
2154	end apogee: CONTROL_FINISHED_OK
state	2154	begin climb
2154.55	10759	146.63	1.26	-80.00	2946.8	3013.9	2879.8	1955.1	2622.0	162.59	0.00	294	2281.21	110.28	2.55	3.68	1.286	0.094	0.134	2348.34	2431.44	2265.25	2339.06	1190.38	0	0	0	11.85	15.55	15.29
2288.88	1028	146.63	1.26	0.00	2346.2	2427.7	2264.8	2339.4	1189.6	148.99	15.16	317	2296.37	0.00	0.00	3.44	0.000	0.000	0.060	2344.91	2425.94	2263.88	2339.00	2623.38	0	0	0	30.00	30.00	15.38
2484.63	16646	146.63	1.26	80.00	2342.5	2421.4	2263.6	2337.9	2622.3	119.33	15.23	337	2490.59	0.00	0.00	3.33	0.000	0.000	0.125	2343.69	2422.06	2265.31	2338.56	3909.00	0	0	0	30.00	30.00	15.59
2548.90	17414	146.63	1.26	0.00	2341.6	2420.6	2262.6	2338.8	3909.2	108.88	16.04	350	2556.23	0.00	0.00	3.13	0.000	0.000	0.070	2340.62	2418.25	2263.00	2339.69	2578.00	0	0	0	30.00	30.00	15.67
2744.65	16646	146.63	1.26	80.00	2340.8	2419.3	2262.2	2339.1	2578.1	79.74	14.65	370	2750.59	0.00	0.00	3.40	0.000	0.000	0.120	2342.00	2420.12	2263.88	2338.31	3909.50	0	0	0	30.00	30.00	15.74
2778.92	17414	146.63	1.26	0.00	2339.4	2416.9	2261.8	2338.4	3908.6	74.41	15.44	377	2786.19	0.00	0.00	3.07	0.000	0.000	0.068	2339.25	2415.56	2262.94	2339.19	2576.06	0	0	0	30.00	30.00	15.79
2967.70	16386	146.63	1.26	0.00	2339.4	2417.3	2261.5	2339.4	2575.4	48.40	13.20	398	2972.25	0.00	0.00	0.00	0.000	0.000	0.000	2338.16	2416.00	2260.31	2338.56	2576.38	0	0	0	30.00	30.00	30.00
3156.69	16386	146.63	1.26	0.00	2339.9	2417.2	2262.6	2338.9	2575.7	24.50	12.62	435	3161.24	0.00	0.00	0.00	0.000	0.000	0.000	2337.84	2415.69	2260.00	2339.12	2576.44	0	0	0	30.00	30.00	30.00
3341.85	8486	200.23	1.32	80.00	2339.6	2417.4	2261.8	2339.8	2576.6	5.55	7.29	472	3390.53	40.47	0.00	3.36	1.133	0.000	0.118	2131.75	2217.25	2046.25	2338.88	3909.19	0	0	0	12.12	30.00	15.72
3529	end climb: SURFACE_DEPTH_REACHED
state	3529	begin surface coast
3599	end surface coast: CONTROL_FINISHED_OK
state	3599	begin surface