Glider dive log

SMODE Aug22 * SG220 * Dive index * Mission links * Dive 275 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 14

MISSION 7 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 10.5

DIVE 275 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 SM_CC 350 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -9.2399998

STOP_T 0 N_FILEKB 4 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 3049 MOTHERBOARD 6

D_TGT 270 COMM_SEQ 7 VBD_DBAND 2 DEVICE1 -1

D_ABORT 1000 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012000001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 6

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 34

T_DIVE 90 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 110 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_24V 350 NAV2_DEVICE -1

T_LOITER 0 PITCH_MIN 190 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3888 MINV_24V 11 PRESSURE_DEVICE 41

USE_BATHY -10 C_PITCH 2020 MINV_10V 11 XPDR_DEVICE 21

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 MAXI_10V 1.5 SEABIRD_T_G 0.0044097742

D_OFFGRID 1000 PITCH_GAIN 40 FG_AHR_10V 37.425987 SEABIRD_T_H 0.00063677714

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 71.586876 SEABIRD_T_I 2.6545444e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3307697e-06

MAX_BUOY 180 PITCH_ADJ_GAIN 0 PRESSURE_YINT -162.23586 SEABIRD_C_G -9.9156904

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022240146 SEABIRD_C_H 1.1102111

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.003043188

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00028673469

MASS 56233 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 OPTIONS 0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_GAIN 2 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 265 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0163117 ROLL_MAX 3829 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING -1 C_ROLL_DIVE 2750 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2300 ALTIM_SENSITIVITY 2 TM_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 6 TM_XMITRAW 0.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90 TM_LOGSAMPLE 0.0

AH0_10V 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.00063677714

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.6545444e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 3.3307697e-06

ALTIM_FREQUENCY 13 D_TGT 270 OPTIONS 0 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SM_CC 350

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_10V 37.425987 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 71.586876 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00281838 PITCH_MAX 3888 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0163117 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 190 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012000001 TM_RECORDABOVE 200.0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0.5 TM_XMITPROFILE 3.0

COMM_SEQ 7 ID 220 PITCH_W_GAIN 2 TM_XMITRAW 0.0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_ABORT 1440

COMPASS_DEVICE 34 INT_PRESSURE_YINT -9.2399998 PRESSURE_SLOPE 0.00022240146 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -162.23586 T_DIVE 90

C_PITCH 2020 LOGGERDEVICE1 6 PROTOCOL 9 T_EPIRB 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 2300 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 110

C_ROLL_DIVE 2750 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3049 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_RSLEEP 2

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN 225

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RHO 1.0275 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 56233 ROLL_CNV 0.028270001 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.5 ROLL_DEG 40 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3829 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 180 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 265 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 7 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 275 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 500

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 0 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9156904 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1102111 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.003043188 XPDR_INT 14

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.00028673469 XPDR_REP 10.5

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_G 0.0044097742 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 281022,121340,3642.523,-12441.703,28,0.9,29,13.3 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,121829,3642.505,-12441.556,3,0.9,6,13.3 MHEAD_RNG_PITCHd_Wd 269.7,682,-18.3,-10.000,-23.92,2676,0.139

SPEED_LIMITS 0.173,0.225 D_GRID 1000

TGT_NAME pickup_n IRON 1.000000,0.014008,-0.003391,0.000496,1.036060,0.020088,0.013924,-0.009366,1.058112,15.781581,9.359980,24.242016

TGT_LATLONG 3642.600,-12442.000

Post-dive calculations and measurements:

FINISH 0.1,1.007274 FG_AHR_10Vo 37.486

SM_CCo 5211.52,67.00,1.085,0,1622.2,1706.7,1537.6,350.00 MEM0 60148,1,0,0

SM_GC 1.11,67.00,6.09,0.82,1.085,0.070,0.123,1622.2,1706.7,1537.6,160.9,2763.9,0,0,0,12.18,15.83,15.78 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 909996,63,135652,83

IRIDIUM_FIX 3644.46,-12442.56,281022,104348 DATA_FILE_SIZE 19318,723

TCM_TEMP 17.20 CAP_FILE_SIZE 184365,0

XPDR_PINGS 16,14.0,10.5 SDSIZE 3918848,3829376

SC_FREEKB 3671072 SDFILEDIR 1700,1

HUMID 52.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 12.24 CURRENT 0.231,104.9,1

INTERNAL_PRESSURE 8.69959 MAGCAL 1.000000,0.027899,0.005292,-0.003288,1.030466,-0.008454,0.002739,0.025590,1.046583,10.6,23.0,24.0,17,0.0101,0

_24V_AH 14.76,92.615 IMPLIED_C_PITCH 2047,26.94,503,0.0,0.00

_10V_AH 14.85,0.000 IMPLIED_C_VBD 3039,25.452862,486,0

FG_AHR_24Vo 71.743 GPS 281022,134611,3642.500,-12441.456,16,0.9,26,13.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 461 1429 9743.30 nil 0 0 0.00

Pitch_motor 19 539 151.92 nil 0 0 0.00

Roll_motor 48 189 134.68 nil 0 0 0.00

Iridium 199 200 592.48 nil 0 0 0.00

Transponder_ping 4 420 24.80 nil 0 0 0.00

GPS 15 15 3.43 nil 0 0 0.00

Core 954 6 96.38 SciCon 5160 35 2746.28

Fast 16 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3209 2 95.33

Compass 1032 5 76.69

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

6.56 16386 -175.18 -0.67 0.00 1612.1 1700.8 1523.4 169.7 2662.6 0.00 0.00 0 71.93 64.32 0.00 0.00 0.006 0.000 0.000 3004.38 3067.94 2940.81 169.75 2661.19 0 0 0 15.25 30.00 30.00

72.12 18727 -175.18 -0.67 40.00 3003.9 3067.1 2940.6 169.8 2661.6 3.65 -4.10 12 107.52 16.88 10.65 2.27 0.007 0.539 0.176 3764.19 3838.31 3690.06 1803.81 3841.06 0 0 0 15.30 15.15 15.36

215.60 1028 -175.18 -0.67 0.00 3765.2 3837.8 3692.6 1804.7 3841.0 35.67 -17.12 41 220.51 0.00 0.00 1.84 0.000 0.000 0.035 3765.25 3838.12 3692.38 1805.62 2682.00 0 0 0 30.00 30.00 15.67

405.66 516 -175.18 -0.67 -40.00 3766.5 3837.9 3695.1 1805.2 2678.1 72.20 -17.18 79 411.23 0.00 0.00 2.43 0.000 0.000 0.043 3767.59 3838.69 3696.50 1804.75 1307.44 0 0 0 30.00 30.00 15.73

455.67 1028 -175.18 -0.67 0.00 3767.1 3838.3 3695.8 1805.3 1304.6 80.93 -16.81 89 461.31 0.00 0.00 2.86 0.000 0.000 0.121 3767.47 3838.56 3696.38 1803.69 2759.94 0 0 0 30.00 30.00 15.39

645.72 516 -175.18 -0.67 -40.00 3767.5 3838.0 3697.0 1805.2 2760.4 108.80 -14.01 121 651.29 0.00 0.00 2.60 0.000 0.000 0.045 3767.72 3838.25 3697.19 1804.94 1308.38 0 0 0 30.00 30.00 15.82

715.74 1028 -175.18 -0.67 0.00 3768.0 3837.6 3698.4 1804.9 1307.6 117.82 -12.11 135 721.36 0.00 0.00 2.87 0.000 0.000 0.129 3768.47 3838.19 3698.75 1804.88 2761.94 0 0 0 30.00 30.00 15.71

1025.79 0 -175.18 -0.67 0.00 3768.4 3838.2 3698.6 1805.0 2761.6 159.25 -13.51 167 1027.14 0.00 0.00 0.00 0.000 0.000 0.000 3767.44 3837.56 3697.31 1804.62 2761.88 0 0 0 30.00 30.00 30.00

1335.83 0 -175.18 -0.67 0.00 3768.2 3837.4 3699.0 1805.1 2761.5 201.69 -13.43 198 1337.18 0.00 0.00 0.00 0.000 0.000 0.000 3768.25 3837.50 3699.00 1805.38 2761.19 0 0 0 30.00 30.00 30.00

1645.87 0 -175.18 -0.67 0.00 3768.2 3838.1 3698.2 1804.7 2761.6 241.90 -12.93 229 1647.22 0.00 0.00 0.00 0.000 0.000 0.000 3767.84 3837.81 3697.88 1805.12 2761.31 0 0 0 30.00 30.00 30.00

1876 end dive: TARGET_DEPTH_EXCEEDED

state 1876 begin apogee

1877.67 10243 0.00 -0.12 0.00 3767.2 3837.8 3696.6 1804.8 2244.8 270.83 -12.34 252 2008.60 126.46 0.60 0.16 1.429 0.223 0.190 3047.25 3161.69 2932.81 1981.88 2311.69 0 0 0 12.07 15.78 15.22

2010 end apogee: CONTROL_FINISHED_OK

state 2010 begin climb

2010.42 10243 175.18 0.67 0.00 3046.4 3161.3 2931.6 1981.6 2311.9 275.64 0.00 265 2141.61 127.86 0.78 0.00 1.394 0.127 0.000 2335.78 2431.00 2240.56 2238.88 2311.62 0 0 0 12.41 15.31 30.00

2445.95 580 175.18 0.70 -40.00 2326.8 2426.2 2227.4 2238.4 2312.0 243.99 8.24 309 2451.52 0.00 0.00 2.61 0.000 0.000 0.057 2326.56 2425.56 2227.56 2243.44 858.25 0 0 0 30.00 30.00 15.74

2480.94 17478 175.18 0.74 0.00 2325.2 2421.6 2228.9 2242.6 857.4 241.12 8.22 316 2486.55 0.00 0.00 2.69 0.000 0.000 0.089 2325.91 2422.56 2229.25 2243.12 2309.12 0 0 0 30.00 30.00 15.69

2796.00 16710 175.18 0.78 40.00 2323.9 2421.3 2226.5 2243.0 2309.2 216.29 7.72 348 2801.57 0.00 0.00 2.64 0.000 0.000 0.153 2325.31 2422.75 2227.88 2242.94 3724.38 0 0 0 30.00 30.00 15.73

2856.01 19527 175.18 0.80 0.00 2324.1 2421.5 2226.7 2242.8 3724.7 210.83 9.26 360 2861.59 0.00 0.07 2.41 0.000 0.126 0.044 2325.38 2422.69 2228.06 2320.69 2263.00 0 0 0 30.00 15.79 15.86

3166.04 20483 175.18 0.80 0.00 2323.6 2421.8 2225.3 2321.2 2257.4 175.34 11.33 392 3167.54 0.00 0.19 0.00 0.000 0.242 0.000 2322.88 2421.12 2224.62 2265.81 2256.44 0 0 0 30.00 15.76 30.00

3476.12 16710 175.18 0.83 40.00 2322.5 2421.6 2223.5 2266.4 2256.5 147.67 8.59 423 3481.68 0.00 0.00 2.80 0.000 0.000 0.157 2322.69 2421.44 2223.94 2266.25 3728.12 0 0 0 30.00 30.00 15.74

3556.12 17414 175.18 0.83 0.00 2322.7 2420.9 2224.6 2266.2 3727.5 139.77 9.98 439 3561.65 0.00 0.00 2.41 0.000 0.000 0.041 2322.56 2421.38 2223.75 2274.00 2264.31 0 0 0 30.00 30.00 15.82

3866.15 10535 255.41 0.92 40.00 2321.7 2421.4 2221.9 2273.3 2257.8 117.46 6.92 471 3932.99 59.37 0.12 2.83 1.235 0.077 0.150 2004.84 2114.56 1895.12 2372.44 3726.00 0 0 0 12.11 15.75 15.42

3981.13 5125 255.41 0.92 0.00 2002.8 2113.2 1892.3 2372.0 3726.0 101.95 15.85 494 3986.80 0.00 0.28 2.46 0.000 0.256 0.042 2002.56 2113.56 1891.56 2308.44 2270.25 0 0 0 30.00 15.51 15.59

4291.21 16966 255.41 0.94 -40.00 1998.7 2113.0 1884.3 2308.6 2264.4 69.44 9.01 555 4296.76 0.00 0.00 2.50 0.000 0.000 0.062 1999.16 2113.81 1884.50 2315.81 860.44 0 0 0 30.00 30.00 15.71

4436.22 17478 255.41 0.97 0.00 1996.2 2108.7 1883.7 2315.5 859.2 56.39 8.70 584 4441.82 0.00 0.00 2.72 0.000 0.000 0.100 1998.62 2111.06 1886.19 2315.12 2308.31 0 0 0 30.00 30.00 15.71

4626.27 16450 255.41 1.02 0.00 1996.1 2108.9 1883.2 2315.5 2309.0 41.70 7.20 622 4627.62 0.00 0.00 0.00 0.000 0.000 0.000 1995.16 2108.00 1882.31 2315.44 2309.00 0 0 0 30.00 30.00 30.00

4811.27 19015 255.41 1.06 -40.00 1995.4 2108.9 1881.9 2315.7 2308.8 27.47 8.40 659 4816.86 0.00 0.12 2.59 0.000 0.073 0.060 1996.31 2109.62 1883.00 2411.19 859.31 0 0 0 30.00 15.70 15.76

5046.23 21511 255.41 1.06 0.00 1994.5 2107.4 1881.6 2411.2 858.8 6.51 9.66 706 5051.93 0.00 0.21 2.73 0.000 0.236 0.109 1995.38 2108.12 1882.62 2350.62 2307.94 0 0 0 30.00 15.62 15.78

5102 end climb: SURFACE_DEPTH_REACHED

state 5102 begin surface coast

5132 end surface coast: CONTROL_FINISHED_OK

state 5132 begin surface

ID	220	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	14
MISSION	7	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	10.5
DIVE	275	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	SM_CC	350	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-9.2399998
STOP_T	0	N_FILEKB	4	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	3049	MOTHERBOARD	6
D_TGT	270	COMM_SEQ	7	VBD_DBAND	2	DEVICE1	-1
D_ABORT	1000	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012000001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	6
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	34
T_DIVE	90	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	110	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_24V	350	NAV2_DEVICE	-1
T_LOITER	0	PITCH_MIN	190	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3888	MINV_24V	11	PRESSURE_DEVICE	41
USE_BATHY	-10	C_PITCH	2020	MINV_10V	11	XPDR_DEVICE	21
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	MAXI_10V	1.5	SEABIRD_T_G	0.0044097742
D_OFFGRID	1000	PITCH_GAIN	40	FG_AHR_10V	37.425987	SEABIRD_T_H	0.00063677714
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	71.586876	SEABIRD_T_I	2.6545444e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3307697e-06
MAX_BUOY	180	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-162.23586	SEABIRD_C_G	-9.9156904
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022240146	SEABIRD_C_H	1.1102111
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.003043188
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00028673469
MASS	56233	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	OPTIONS	0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_GAIN	2	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	265	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0163117	ROLL_MAX	3829	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	-1	C_ROLL_DIVE	2750	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2300	ALTIM_SENSITIVITY	2	TM_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	6	TM_XMITRAW	0.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90	TM_LOGSAMPLE	0.0

GPS1	281022,121340,3642.523,-12441.703,28,0.9,29,13.3	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,121829,3642.505,-12441.556,3,0.9,6,13.3	MHEAD_RNG_PITCHd_Wd	269.7,682,-18.3,-10.000,-23.92,2676,0.139
SPEED_LIMITS	0.173,0.225	D_GRID	1000
TGT_NAME	pickup_n	IRON	1.000000,0.014008,-0.003391,0.000496,1.036060,0.020088,0.013924,-0.009366,1.058112,15.781581,9.359980,24.242016
TGT_LATLONG	3642.600,-12442.000

FINISH	0.1,1.007274	FG_AHR_10Vo	37.486
SM_CCo	5211.52,67.00,1.085,0,1622.2,1706.7,1537.6,350.00	MEM0	60148,1,0,0
SM_GC	1.11,67.00,6.09,0.82,1.085,0.070,0.123,1622.2,1706.7,1537.6,160.9,2763.9,0,0,0,12.18,15.83,15.78	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	909996,63,135652,83
IRIDIUM_FIX	3644.46,-12442.56,281022,104348	DATA_FILE_SIZE	19318,723
TCM_TEMP	17.20	CAP_FILE_SIZE	184365,0
XPDR_PINGS	16,14.0,10.5	SDSIZE	3918848,3829376
SC_FREEKB	3671072	SDFILEDIR	1700,1
HUMID	52.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	12.24	CURRENT	0.231,104.9,1
INTERNAL_PRESSURE	8.69959	MAGCAL	1.000000,0.027899,0.005292,-0.003288,1.030466,-0.008454,0.002739,0.025590,1.046583,10.6,23.0,24.0,17,0.0101,0
_24V_AH	14.76,92.615	IMPLIED_C_PITCH	2047,26.94,503,0.0,0.00
_10V_AH	14.85,0.000	IMPLIED_C_VBD	3039,25.452862,486,0
FG_AHR_24Vo	71.743	GPS	281022,134611,3642.500,-12441.456,16,0.9,26,13.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	461	1429	9743.30	nil	0	0	0.00
Pitch_motor	19	539	151.92	nil	0	0	0.00
Roll_motor	48	189	134.68	nil	0	0	0.00
Iridium	199	200	592.48	nil	0	0	0.00
Transponder_ping	4	420	24.80	nil	0	0	0.00
GPS	15	15	3.43	nil	0	0	0.00
Core	954	6	96.38	SciCon	5160	35	2746.28
Fast	16	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3209	2	95.33
Compass	1032	5	76.69
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
6.56	16386	-175.18	-0.67	0.00	1612.1	1700.8	1523.4	169.7	2662.6	0.00	0.00	0	71.93	64.32	0.00	0.00	0.006	0.000	0.000	3004.38	3067.94	2940.81	169.75	2661.19	0	0	0	15.25	30.00	30.00
72.12	18727	-175.18	-0.67	40.00	3003.9	3067.1	2940.6	169.8	2661.6	3.65	-4.10	12	107.52	16.88	10.65	2.27	0.007	0.539	0.176	3764.19	3838.31	3690.06	1803.81	3841.06	0	0	0	15.30	15.15	15.36
215.60	1028	-175.18	-0.67	0.00	3765.2	3837.8	3692.6	1804.7	3841.0	35.67	-17.12	41	220.51	0.00	0.00	1.84	0.000	0.000	0.035	3765.25	3838.12	3692.38	1805.62	2682.00	0	0	0	30.00	30.00	15.67
405.66	516	-175.18	-0.67	-40.00	3766.5	3837.9	3695.1	1805.2	2678.1	72.20	-17.18	79	411.23	0.00	0.00	2.43	0.000	0.000	0.043	3767.59	3838.69	3696.50	1804.75	1307.44	0	0	0	30.00	30.00	15.73
455.67	1028	-175.18	-0.67	0.00	3767.1	3838.3	3695.8	1805.3	1304.6	80.93	-16.81	89	461.31	0.00	0.00	2.86	0.000	0.000	0.121	3767.47	3838.56	3696.38	1803.69	2759.94	0	0	0	30.00	30.00	15.39
645.72	516	-175.18	-0.67	-40.00	3767.5	3838.0	3697.0	1805.2	2760.4	108.80	-14.01	121	651.29	0.00	0.00	2.60	0.000	0.000	0.045	3767.72	3838.25	3697.19	1804.94	1308.38	0	0	0	30.00	30.00	15.82
715.74	1028	-175.18	-0.67	0.00	3768.0	3837.6	3698.4	1804.9	1307.6	117.82	-12.11	135	721.36	0.00	0.00	2.87	0.000	0.000	0.129	3768.47	3838.19	3698.75	1804.88	2761.94	0	0	0	30.00	30.00	15.71
1025.79	0	-175.18	-0.67	0.00	3768.4	3838.2	3698.6	1805.0	2761.6	159.25	-13.51	167	1027.14	0.00	0.00	0.00	0.000	0.000	0.000	3767.44	3837.56	3697.31	1804.62	2761.88	0	0	0	30.00	30.00	30.00
1335.83	0	-175.18	-0.67	0.00	3768.2	3837.4	3699.0	1805.1	2761.5	201.69	-13.43	198	1337.18	0.00	0.00	0.00	0.000	0.000	0.000	3768.25	3837.50	3699.00	1805.38	2761.19	0	0	0	30.00	30.00	30.00
1645.87	0	-175.18	-0.67	0.00	3768.2	3838.1	3698.2	1804.7	2761.6	241.90	-12.93	229	1647.22	0.00	0.00	0.00	0.000	0.000	0.000	3767.84	3837.81	3697.88	1805.12	2761.31	0	0	0	30.00	30.00	30.00
1876	end dive: TARGET_DEPTH_EXCEEDED
state	1876	begin apogee
1877.67	10243	0.00	-0.12	0.00	3767.2	3837.8	3696.6	1804.8	2244.8	270.83	-12.34	252	2008.60	126.46	0.60	0.16	1.429	0.223	0.190	3047.25	3161.69	2932.81	1981.88	2311.69	0	0	0	12.07	15.78	15.22
2010	end apogee: CONTROL_FINISHED_OK
state	2010	begin climb
2010.42	10243	175.18	0.67	0.00	3046.4	3161.3	2931.6	1981.6	2311.9	275.64	0.00	265	2141.61	127.86	0.78	0.00	1.394	0.127	0.000	2335.78	2431.00	2240.56	2238.88	2311.62	0	0	0	12.41	15.31	30.00
2445.95	580	175.18	0.70	-40.00	2326.8	2426.2	2227.4	2238.4	2312.0	243.99	8.24	309	2451.52	0.00	0.00	2.61	0.000	0.000	0.057	2326.56	2425.56	2227.56	2243.44	858.25	0	0	0	30.00	30.00	15.74
2480.94	17478	175.18	0.74	0.00	2325.2	2421.6	2228.9	2242.6	857.4	241.12	8.22	316	2486.55	0.00	0.00	2.69	0.000	0.000	0.089	2325.91	2422.56	2229.25	2243.12	2309.12	0	0	0	30.00	30.00	15.69
2796.00	16710	175.18	0.78	40.00	2323.9	2421.3	2226.5	2243.0	2309.2	216.29	7.72	348	2801.57	0.00	0.00	2.64	0.000	0.000	0.153	2325.31	2422.75	2227.88	2242.94	3724.38	0	0	0	30.00	30.00	15.73
2856.01	19527	175.18	0.80	0.00	2324.1	2421.5	2226.7	2242.8	3724.7	210.83	9.26	360	2861.59	0.00	0.07	2.41	0.000	0.126	0.044	2325.38	2422.69	2228.06	2320.69	2263.00	0	0	0	30.00	15.79	15.86
3166.04	20483	175.18	0.80	0.00	2323.6	2421.8	2225.3	2321.2	2257.4	175.34	11.33	392	3167.54	0.00	0.19	0.00	0.000	0.242	0.000	2322.88	2421.12	2224.62	2265.81	2256.44	0	0	0	30.00	15.76	30.00
3476.12	16710	175.18	0.83	40.00	2322.5	2421.6	2223.5	2266.4	2256.5	147.67	8.59	423	3481.68	0.00	0.00	2.80	0.000	0.000	0.157	2322.69	2421.44	2223.94	2266.25	3728.12	0	0	0	30.00	30.00	15.74
3556.12	17414	175.18	0.83	0.00	2322.7	2420.9	2224.6	2266.2	3727.5	139.77	9.98	439	3561.65	0.00	0.00	2.41	0.000	0.000	0.041	2322.56	2421.38	2223.75	2274.00	2264.31	0	0	0	30.00	30.00	15.82
3866.15	10535	255.41	0.92	40.00	2321.7	2421.4	2221.9	2273.3	2257.8	117.46	6.92	471	3932.99	59.37	0.12	2.83	1.235	0.077	0.150	2004.84	2114.56	1895.12	2372.44	3726.00	0	0	0	12.11	15.75	15.42
3981.13	5125	255.41	0.92	0.00	2002.8	2113.2	1892.3	2372.0	3726.0	101.95	15.85	494	3986.80	0.00	0.28	2.46	0.000	0.256	0.042	2002.56	2113.56	1891.56	2308.44	2270.25	0	0	0	30.00	15.51	15.59
4291.21	16966	255.41	0.94	-40.00	1998.7	2113.0	1884.3	2308.6	2264.4	69.44	9.01	555	4296.76	0.00	0.00	2.50	0.000	0.000	0.062	1999.16	2113.81	1884.50	2315.81	860.44	0	0	0	30.00	30.00	15.71
4436.22	17478	255.41	0.97	0.00	1996.2	2108.7	1883.7	2315.5	859.2	56.39	8.70	584	4441.82	0.00	0.00	2.72	0.000	0.000	0.100	1998.62	2111.06	1886.19	2315.12	2308.31	0	0	0	30.00	30.00	15.71
4626.27	16450	255.41	1.02	0.00	1996.1	2108.9	1883.2	2315.5	2309.0	41.70	7.20	622	4627.62	0.00	0.00	0.00	0.000	0.000	0.000	1995.16	2108.00	1882.31	2315.44	2309.00	0	0	0	30.00	30.00	30.00
4811.27	19015	255.41	1.06	-40.00	1995.4	2108.9	1881.9	2315.7	2308.8	27.47	8.40	659	4816.86	0.00	0.12	2.59	0.000	0.073	0.060	1996.31	2109.62	1883.00	2411.19	859.31	0	0	0	30.00	15.70	15.76
5046.23	21511	255.41	1.06	0.00	1994.5	2107.4	1881.6	2411.2	858.8	6.51	9.66	706	5051.93	0.00	0.21	2.73	0.000	0.236	0.109	1995.38	2108.12	1882.62	2350.62	2307.94	0	0	0	30.00	15.62	15.78
5102	end climb: SURFACE_DEPTH_REACHED
state	5102	begin surface coast
5132	end surface coast: CONTROL_FINISHED_OK
state	5132	begin surface