Glider dive log

Shilshole 31Mar22 * SG242 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 1 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 3 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 -3.2

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 15 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 220 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -6 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 1600 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 1.832413 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 0.67901587 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 2 PRESSURE_YINT -182.49922 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

MASS 72392 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 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 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3800 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 2100 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 3 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 150 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 1.832413 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0.67901587 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 220 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 50

COMPASS2_DEVICE -1 ID 242 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -3.2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1600 KALMAN_USE 2 PRESSURE_SLOPE 0.00022512203 T_MISSION 65

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -182.49922 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2100 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 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72392 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 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3800 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 195 W_ADJ_DBAND 0

DIVE 3 MISSION 1 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 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 50 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 310322,174019,4744.530,-12224.142,1,1.5,3,15.4 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -31.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310322,174308,4744.539,-12224.113,2,1.5,4,15.4 MHEAD_RNG_PITCHd_Wd 184.6,2854,-17.6,-10.000,-21.21,2209,0.215

SPEED_LIMITS 0.173,0.258 D_GRID 173

TGT_NAME SE IRON 1.000000,0.004720,0.006385,0.024760,1.044234,-0.031834,0.030047,-0.059813,1.012421,853.448303,-914.524536,-648.710999

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1648751771,38.3,2,stop FG_AHR_24Vo 0.852

MODEM_MSG CACST,8,1,20220331183437.862451,18,1068,00,0240,0150,246,01,01,05,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*2E FG_AHR_10Vo 1.867

FINISH 0.5,1.020579 MEM0 60148,1,0,0

SM_CCo 3776.74,249.52,1.036,0,541.5,625.6,457.4,603.08 MEM1 65508,1,0,0

SM_GC 1.14,249.52,10.25,0.75,1.036,0.076,0.084,541.5,625.6,457.4,212.9,2068.4,0,0,0,11.49,15.90,15.91 MEM2 994536,26,52252,63

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12945,463

IRIDIUM_FIX 4744.47,-12222.38,310322,173648 CAP_FILE_SIZE 199260,0

TCM_TEMP 12.93 SDSIZE 3887104,3874464

SC_FREEKB 3877824 SDFILEDIR 41,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1648746323,47.50000,-123.50000,23.621,34604.5 SOUNDSPEED 1465.0

RAFOS_FIX 4925.229492,-12032.724609,310322,181858,2,510,3579.21 CURRENT 0.049, 38.4,1

HUMID 49.14 MAGCAL 1.000000,0.003847,-0.027910,0.010062,1.044668,-0.057991,0.021070,-0.056718,0.973466,881.5,-899.5,-618.4,35,0.0287,0

TEMP 9.70 IMPLIED_C_PITCH 1549,16.07,238,0.0,0.00

INTERNAL_PRESSURE 8.15957 IMPLIED_C_VBD 3049,40.321442,238,0

_24V_AH 14.85,0.920 GPS 310322,184731,4744.295,-12224.332,29,0.9,30,15.4

_10V_AH 14.85,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 667 1251 12409.92 nil 0 0 0.00

Pitch_motor 24 259 92.80 nil 0 0 0.00

Roll_motor 84 217 273.71 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 13 15 2.98 nil 0 0 0.00

Core 1671 5 127.11 SciCon 3507 6 347.99

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1889 0 8.98

Compass 919 5 68.25

RAFOS 2228 40 1324.02

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

7.31 16386 -146.63 -0.88 0.00 537.3 621.8 452.9 206.6 2067.7 0.00 0.00 0 131.93 121.61 0.00 0.00 0.005 0.000 0.000 3109.72 3138.19 3081.25 206.56 2067.75 0 0 0 15.93 30.00 30.00

132.19 18727 -146.63 -0.88 80.00 3108.5 3137.9 3079.0 206.6 2068.0 3.69 -2.14 12 163.32 14.58 8.73 3.67 0.006 0.259 0.132 3596.09 3629.69 3562.50 1384.94 3562.69 0 0 0 15.97 15.78 15.85

225.67 5285 -146.63 -1.03 0.00 3596.9 3634.6 3559.3 1386.3 3565.0 11.73 -6.91 31 232.16 0.00 0.28 3.39 0.000 0.080 0.067 3596.66 3636.69 3556.62 1337.56 2071.38 0 0 0 30.00 15.89 15.91

421.43 420 -146.63 -1.13 80.00 3598.2 3637.2 3559.2 1337.3 2072.7 25.25 -6.63 51 426.39 0.00 0.00 3.62 0.000 0.000 0.127 3599.12 3636.19 3562.06 1336.44 3566.69 0 0 0 30.00 30.00 15.91

451.44 5285 -146.63 -1.21 0.00 3598.3 3637.3 3559.4 1336.9 3565.9 27.19 -6.15 57 456.43 0.00 0.22 3.37 0.000 0.085 0.064 3598.75 3637.75 3559.75 1292.06 2073.44 0 0 0 30.00 15.96 15.96

641.42 548 -146.63 -1.21 -80.00 3598.3 3637.3 3559.2 1292.8 2071.6 44.90 -9.67 77 646.39 0.00 0.00 3.51 0.000 0.000 0.136 3598.62 3634.94 3562.31 1292.44 633.50 0 0 0 30.00 30.00 15.93

695.68 1028 -146.63 -1.21 0.00 3598.6 3637.8 3559.3 1292.2 633.6 50.84 -11.10 88 702.13 0.00 0.00 3.39 0.000 0.000 0.062 3599.88 3637.12 3562.62 1292.19 2127.44 0 0 0 30.00 30.00 16.00

891.52 548 -146.63 -1.21 -80.00 3598.3 3637.4 3559.2 1292.5 2126.5 66.46 -6.98 108 896.44 0.00 0.00 3.64 0.000 0.000 0.131 3599.56 3639.75 3559.38 1291.75 632.12 0 0 0 30.00 30.00 15.96

974.69 1060 -146.63 -1.21 0.00 3598.8 3637.6 3560.1 1291.9 632.4 73.37 -8.48 122 979.62 0.00 0.00 3.38 0.000 0.000 0.062 3599.22 3639.31 3559.12 1292.81 2124.25 0 0 0 30.00 30.00 16.00

1164.79 32 -146.63 -1.21 0.00 3598.7 3638.0 3559.4 1292.1 2124.1 87.08 -7.79 142 1166.12 0.00 0.00 0.00 0.000 0.000 0.000 3598.19 3638.00 3558.38 1291.81 2123.88 0 0 0 30.00 30.00 30.00

1354.76 548 -146.63 -1.21 -80.00 3598.4 3637.4 3559.4 1292.4 2124.2 103.52 -9.33 161 1359.73 0.00 0.00 3.64 0.000 0.000 0.131 3599.06 3637.81 3560.31 1292.75 632.44 0 0 0 30.00 30.00 15.95

1384.75 1028 -146.63 -1.21 0.00 3598.1 3637.6 3558.7 1292.2 632.2 106.74 -10.42 167 1389.69 0.00 0.00 3.38 0.000 0.000 0.063 3600.19 3639.12 3561.25 1292.00 2123.31 0 0 0 30.00 30.00 15.99

1574.84 548 -146.63 -1.21 -80.00 3599.1 3638.2 3560.0 1292.6 2123.8 123.93 -8.36 187 1579.76 0.00 0.00 3.62 0.000 0.000 0.129 3599.31 3638.94 3559.69 1292.12 632.38 0 0 0 30.00 30.00 15.95

1599.04 1060 -146.63 -1.21 0.00 3598.6 3637.5 3559.7 1292.3 632.4 126.28 -8.85 192 1605.47 0.00 0.00 3.39 0.000 0.000 0.063 3601.59 3640.00 3563.19 1291.81 2125.19 0 0 0 30.00 30.00 15.99

1794.87 292 -146.63 -1.21 80.00 3598.8 3638.0 3559.6 1292.8 2125.2 142.25 -8.08 212 1799.74 0.00 0.00 3.46 0.000 0.000 0.132 3599.25 3638.00 3560.50 1292.12 3565.12 0 0 0 30.00 30.00 15.95

1885 end dive: TARGET_DEPTH_EXCEEDED

state 1885 begin apogee

1889.01 10243 0.00 -0.20 0.00 3597.8 3637.1 3558.6 1292.9 2360.4 150.02 -9.18 230 1997.33 104.46 1.77 0.11 1.252 0.138 0.218 2999.81 3088.75 2910.88 1554.81 2426.69 0 0 0 11.25 15.96 15.55

1998 end apogee: CONTROL_FINISHED_OK

state 1998 begin climb

1998.15 10759 146.63 0.88 -80.00 2998.1 3087.4 2908.8 1554.4 2426.9 152.01 0.00 241 2115.76 105.71 1.64 3.73 1.195 0.081 0.119 2400.69 2493.56 2307.81 1820.06 932.75 0 0 0 11.39 15.57 15.35

2148.17 13479 155.23 0.77 0.00 2393.4 2487.0 2299.8 1821.0 932.4 142.63 9.60 270 2164.88 7.95 0.33 3.51 0.888 0.162 0.070 2366.12 2460.75 2271.50 1780.25 2420.56 0 0 0 11.17 15.46 15.50

2353.86 644 155.23 0.84 -80.00 2362.9 2456.4 2269.4 1780.2 2419.9 123.04 10.34 292 2358.83 0.00 0.00 3.65 0.000 0.000 0.118 2365.06 2458.69 2271.44 1780.62 931.56 0 0 0 30.00 30.00 15.67

2413.89 11303 200.97 0.90 0.00 2359.7 2451.9 2267.4 1780.6 931.0 118.30 7.88 304 2455.41 34.62 0.28 3.47 1.139 0.079 0.071 2179.59 2273.81 2085.38 1830.25 2418.12 0 0 0 11.42 15.73 15.74

2643.87 516 200.97 0.90 -80.00 2174.8 2266.5 2083.0 1830.6 2417.8 95.87 11.08 331 2648.85 0.00 0.00 3.65 0.000 0.000 0.118 2175.84 2268.19 2083.50 1831.19 931.38 0 0 0 30.00 30.00 15.72

2843.94 21639 200.97 0.83 0.00 2171.3 2262.2 2080.4 1831.1 931.3 70.18 13.06 371 2848.95 0.00 0.28 3.46 0.000 0.160 0.072 2171.69 2262.94 2080.44 1795.00 2419.56 0 0 0 30.00 15.78 15.82

3033.95 10919 239.63 0.98 -80.00 2171.5 2262.0 2080.9 1795.2 2419.3 52.39 8.21 391 3069.62 29.18 0.32 3.64 1.087 0.074 0.118 2023.75 2116.62 1930.88 1851.44 931.50 0 0 0 11.36 15.86 15.72

3213.96 1028 239.63 0.98 0.00 2016.3 2108.6 1924.0 1850.9 931.4 30.05 13.70 427 3218.91 0.00 0.00 3.46 0.000 0.000 0.073 2017.50 2108.31 1926.69 1850.31 2420.19 0 0 0 30.00 30.00 15.82

3404.05 644 239.63 1.05 -80.00 2016.0 2108.6 1923.4 1851.1 2420.4 8.36 10.07 447 3408.95 0.00 0.00 3.62 0.000 0.000 0.117 2018.53 2112.00 1925.06 1852.06 929.06 0 0 0 30.00 30.00 15.85

3458.24 17542 239.63 1.13 0.00 2014.9 2106.8 1923.0 1851.9 928.7 2.75 10.38 458 3464.68 0.00 0.00 3.45 0.000 0.000 0.071 2015.28 2106.25 1924.31 1851.12 2420.62 0 0 0 30.00 30.00 15.90

3474 end climb: SURFACE_DEPTH_REACHED

state 3474 begin surface coast

3504 end surface coast: CONTROL_FINISHED_OK

state 3504 begin surface

ID	242	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	1	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	3	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	-3.2
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	15	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	220	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-6	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	1600	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	1.832413	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	0.67901587	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	2	PRESSURE_YINT	-182.49922	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
MASS	72392	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	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	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3800	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	2100	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PULSE	3

GPS1	310322,174019,4744.530,-12224.142,1,1.5,3,15.4	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-31.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310322,174308,4744.539,-12224.113,2,1.5,4,15.4	MHEAD_RNG_PITCHd_Wd	184.6,2854,-17.6,-10.000,-21.21,2209,0.215
SPEED_LIMITS	0.173,0.258	D_GRID	173
TGT_NAME	SE	IRON	1.000000,0.004720,0.006385,0.024760,1.044234,-0.031834,0.030047,-0.059813,1.012421,853.448303,-914.524536,-648.710999
TGT_LATLONG	4743.000,-12224.000

NAV	1648751771,38.3,2,stop	FG_AHR_24Vo	0.852
MODEM_MSG	CACST,8,1,20220331183437.862451,18,1068,00,0240,0150,246,01,01,05,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*2E	FG_AHR_10Vo	1.867
FINISH	0.5,1.020579	MEM0	60148,1,0,0
SM_CCo	3776.74,249.52,1.036,0,541.5,625.6,457.4,603.08	MEM1	65508,1,0,0
SM_GC	1.14,249.52,10.25,0.75,1.036,0.076,0.084,541.5,625.6,457.4,212.9,2068.4,0,0,0,11.49,15.90,15.91	MEM2	994536,26,52252,63
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12945,463
IRIDIUM_FIX	4744.47,-12222.38,310322,173648	CAP_FILE_SIZE	199260,0
TCM_TEMP	12.93	SDSIZE	3887104,3874464
SC_FREEKB	3877824	SDFILEDIR	41,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1648746323,47.50000,-123.50000,23.621,34604.5	SOUNDSPEED	1465.0
RAFOS_FIX	4925.229492,-12032.724609,310322,181858,2,510,3579.21	CURRENT	0.049, 38.4,1
HUMID	49.14	MAGCAL	1.000000,0.003847,-0.027910,0.010062,1.044668,-0.057991,0.021070,-0.056718,0.973466,881.5,-899.5,-618.4,35,0.0287,0
TEMP	9.70	IMPLIED_C_PITCH	1549,16.07,238,0.0,0.00
INTERNAL_PRESSURE	8.15957	IMPLIED_C_VBD	3049,40.321442,238,0
_24V_AH	14.85,0.920	GPS	310322,184731,4744.295,-12224.332,29,0.9,30,15.4
_10V_AH	14.85,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	667	1251	12409.92	nil	0	0	0.00
Pitch_motor	24	259	92.80	nil	0	0	0.00
Roll_motor	84	217	273.71	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	13	15	2.98	nil	0	0	0.00
Core	1671	5	127.11	SciCon	3507	6	347.99
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1889	0	8.98
Compass	919	5	68.25
RAFOS	2228	40	1324.02
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
7.31	16386	-146.63	-0.88	0.00	537.3	621.8	452.9	206.6	2067.7	0.00	0.00	0	131.93	121.61	0.00	0.00	0.005	0.000	0.000	3109.72	3138.19	3081.25	206.56	2067.75	0	0	0	15.93	30.00	30.00
132.19	18727	-146.63	-0.88	80.00	3108.5	3137.9	3079.0	206.6	2068.0	3.69	-2.14	12	163.32	14.58	8.73	3.67	0.006	0.259	0.132	3596.09	3629.69	3562.50	1384.94	3562.69	0	0	0	15.97	15.78	15.85
225.67	5285	-146.63	-1.03	0.00	3596.9	3634.6	3559.3	1386.3	3565.0	11.73	-6.91	31	232.16	0.00	0.28	3.39	0.000	0.080	0.067	3596.66	3636.69	3556.62	1337.56	2071.38	0	0	0	30.00	15.89	15.91
421.43	420	-146.63	-1.13	80.00	3598.2	3637.2	3559.2	1337.3	2072.7	25.25	-6.63	51	426.39	0.00	0.00	3.62	0.000	0.000	0.127	3599.12	3636.19	3562.06	1336.44	3566.69	0	0	0	30.00	30.00	15.91
451.44	5285	-146.63	-1.21	0.00	3598.3	3637.3	3559.4	1336.9	3565.9	27.19	-6.15	57	456.43	0.00	0.22	3.37	0.000	0.085	0.064	3598.75	3637.75	3559.75	1292.06	2073.44	0	0	0	30.00	15.96	15.96
641.42	548	-146.63	-1.21	-80.00	3598.3	3637.3	3559.2	1292.8	2071.6	44.90	-9.67	77	646.39	0.00	0.00	3.51	0.000	0.000	0.136	3598.62	3634.94	3562.31	1292.44	633.50	0	0	0	30.00	30.00	15.93
695.68	1028	-146.63	-1.21	0.00	3598.6	3637.8	3559.3	1292.2	633.6	50.84	-11.10	88	702.13	0.00	0.00	3.39	0.000	0.000	0.062	3599.88	3637.12	3562.62	1292.19	2127.44	0	0	0	30.00	30.00	16.00
891.52	548	-146.63	-1.21	-80.00	3598.3	3637.4	3559.2	1292.5	2126.5	66.46	-6.98	108	896.44	0.00	0.00	3.64	0.000	0.000	0.131	3599.56	3639.75	3559.38	1291.75	632.12	0	0	0	30.00	30.00	15.96
974.69	1060	-146.63	-1.21	0.00	3598.8	3637.6	3560.1	1291.9	632.4	73.37	-8.48	122	979.62	0.00	0.00	3.38	0.000	0.000	0.062	3599.22	3639.31	3559.12	1292.81	2124.25	0	0	0	30.00	30.00	16.00
1164.79	32	-146.63	-1.21	0.00	3598.7	3638.0	3559.4	1292.1	2124.1	87.08	-7.79	142	1166.12	0.00	0.00	0.00	0.000	0.000	0.000	3598.19	3638.00	3558.38	1291.81	2123.88	0	0	0	30.00	30.00	30.00
1354.76	548	-146.63	-1.21	-80.00	3598.4	3637.4	3559.4	1292.4	2124.2	103.52	-9.33	161	1359.73	0.00	0.00	3.64	0.000	0.000	0.131	3599.06	3637.81	3560.31	1292.75	632.44	0	0	0	30.00	30.00	15.95
1384.75	1028	-146.63	-1.21	0.00	3598.1	3637.6	3558.7	1292.2	632.2	106.74	-10.42	167	1389.69	0.00	0.00	3.38	0.000	0.000	0.063	3600.19	3639.12	3561.25	1292.00	2123.31	0	0	0	30.00	30.00	15.99
1574.84	548	-146.63	-1.21	-80.00	3599.1	3638.2	3560.0	1292.6	2123.8	123.93	-8.36	187	1579.76	0.00	0.00	3.62	0.000	0.000	0.129	3599.31	3638.94	3559.69	1292.12	632.38	0	0	0	30.00	30.00	15.95
1599.04	1060	-146.63	-1.21	0.00	3598.6	3637.5	3559.7	1292.3	632.4	126.28	-8.85	192	1605.47	0.00	0.00	3.39	0.000	0.000	0.063	3601.59	3640.00	3563.19	1291.81	2125.19	0	0	0	30.00	30.00	15.99
1794.87	292	-146.63	-1.21	80.00	3598.8	3638.0	3559.6	1292.8	2125.2	142.25	-8.08	212	1799.74	0.00	0.00	3.46	0.000	0.000	0.132	3599.25	3638.00	3560.50	1292.12	3565.12	0	0	0	30.00	30.00	15.95
1885	end dive: TARGET_DEPTH_EXCEEDED
state	1885	begin apogee
1889.01	10243	0.00	-0.20	0.00	3597.8	3637.1	3558.6	1292.9	2360.4	150.02	-9.18	230	1997.33	104.46	1.77	0.11	1.252	0.138	0.218	2999.81	3088.75	2910.88	1554.81	2426.69	0	0	0	11.25	15.96	15.55
1998	end apogee: CONTROL_FINISHED_OK
state	1998	begin climb
1998.15	10759	146.63	0.88	-80.00	2998.1	3087.4	2908.8	1554.4	2426.9	152.01	0.00	241	2115.76	105.71	1.64	3.73	1.195	0.081	0.119	2400.69	2493.56	2307.81	1820.06	932.75	0	0	0	11.39	15.57	15.35
2148.17	13479	155.23	0.77	0.00	2393.4	2487.0	2299.8	1821.0	932.4	142.63	9.60	270	2164.88	7.95	0.33	3.51	0.888	0.162	0.070	2366.12	2460.75	2271.50	1780.25	2420.56	0	0	0	11.17	15.46	15.50
2353.86	644	155.23	0.84	-80.00	2362.9	2456.4	2269.4	1780.2	2419.9	123.04	10.34	292	2358.83	0.00	0.00	3.65	0.000	0.000	0.118	2365.06	2458.69	2271.44	1780.62	931.56	0	0	0	30.00	30.00	15.67
2413.89	11303	200.97	0.90	0.00	2359.7	2451.9	2267.4	1780.6	931.0	118.30	7.88	304	2455.41	34.62	0.28	3.47	1.139	0.079	0.071	2179.59	2273.81	2085.38	1830.25	2418.12	0	0	0	11.42	15.73	15.74
2643.87	516	200.97	0.90	-80.00	2174.8	2266.5	2083.0	1830.6	2417.8	95.87	11.08	331	2648.85	0.00	0.00	3.65	0.000	0.000	0.118	2175.84	2268.19	2083.50	1831.19	931.38	0	0	0	30.00	30.00	15.72
2843.94	21639	200.97	0.83	0.00	2171.3	2262.2	2080.4	1831.1	931.3	70.18	13.06	371	2848.95	0.00	0.28	3.46	0.000	0.160	0.072	2171.69	2262.94	2080.44	1795.00	2419.56	0	0	0	30.00	15.78	15.82
3033.95	10919	239.63	0.98	-80.00	2171.5	2262.0	2080.9	1795.2	2419.3	52.39	8.21	391	3069.62	29.18	0.32	3.64	1.087	0.074	0.118	2023.75	2116.62	1930.88	1851.44	931.50	0	0	0	11.36	15.86	15.72
3213.96	1028	239.63	0.98	0.00	2016.3	2108.6	1924.0	1850.9	931.4	30.05	13.70	427	3218.91	0.00	0.00	3.46	0.000	0.000	0.073	2017.50	2108.31	1926.69	1850.31	2420.19	0	0	0	30.00	30.00	15.82
3404.05	644	239.63	1.05	-80.00	2016.0	2108.6	1923.4	1851.1	2420.4	8.36	10.07	447	3408.95	0.00	0.00	3.62	0.000	0.000	0.117	2018.53	2112.00	1925.06	1852.06	929.06	0	0	0	30.00	30.00	15.85
3458.24	17542	239.63	1.13	0.00	2014.9	2106.8	1923.0	1851.9	928.7	2.75	10.38	458	3464.68	0.00	0.00	3.45	0.000	0.000	0.071	2015.28	2106.25	1924.31	1851.12	2420.62	0	0	0	30.00	30.00	15.90
3474	end climb: SURFACE_DEPTH_REACHED
state	3474	begin surface coast
3504	end surface coast: CONTROL_FINISHED_OK
state	3504	begin surface