Glider dive log

Shilshole 12Oct23 * SG679 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 679 TGT_DEFAULT_LAT 2115.4021 ROLL_CNV 0.028270001 XPDR_INHIBIT 99

MISSION 5 TGT_DEFAULT_LON -15824.54 ROLL_TIMEOUT 15 XPDR_INT 10

DIVE 4 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 10.5

N_DIVES 4 SM_CC 613.25 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.96e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 3.6099999

D_SURF 3 FILEMGR 0 VBD_MIN 600 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 3005 MOTHERBOARD 6

D_ABORT 165 PROTOCOL 9 VBD_DBAND 2 DEVICE1 10

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 3 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 1 UNCOM_BLEED 60 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 0

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 65

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 400000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100840 LOITER_W_DBAND 0 COMPASS_DEVICE 18

T_MISSION 65 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 16

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 0 LOITER_N_DIVE 0 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_HIT_WINDOW 0 CF8_MAXERRORS 20 NAV_DEVICE -1

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 NAV2_DEVICE -1

T_EPIRB 0 PITCH_MIN 203 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -6 PITCH_MAX 3857 MINV_24V 11.5 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 3073 MINV_10V 10 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.0099999998 MAXI_24V 5 PRESSURE_DEVICE 16

D_OFFGRID 100 PITCH_CNV 0.003125763 MAXI_10V 2 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 23 FG_AHR_10V 0.039502956 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 0.46877816 SEABIRD_T_G 0.0044058841

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063403702

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.0099999998 PRESSURE_YINT -155.92395 SEABIRD_T_I 2.5706999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00010889 SEABIRD_T_J 3.1687091e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_G -10.156337

MASS 52600 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1403803

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0031651331

FERRY_MAX 55 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00030728101

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 WS_RECORDABOVE 0.0

HD_B 0.0128292 ROLL_MIN 280 ALTIM_PING_DEPTH 0 WS_PROFILE 0.0

HD_C 1.6e-05 ROLL_MAX 3853 ALTIM_PING_DELTA 0 WS_XMITPROFILE 0.0

HEADING -1 ROLL_DEG 40 ALTIM_FREQUENCY 13 WS_UPLOADMAX 0.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2330 ALTIM_PULSE 9 WS_STARTS 0.0

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2450 ALTIM_SENSITIVITY 5 WS_NDIVE 1.0

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 6

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 161 SEABIRD_T_I 2.5706999e-05

AH0_24V 350 D_SAFE 0 N_DIVES 4 SEABIRD_T_J 3.1687091e-06

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 N_FILEKB 8 SIM_W 0

ALTIM_FREQUENCY 13 D_TGT 150 N_GPS 100840 SM_CC 613.25

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 STOP_T 0

ALTIM_PING_FIT 0 FERRY_MAX 55 OPTIONS 0 STROBE 0

ALTIM_PULSE 9 FG_AHR_10V 0.039502956 PHONE_DEVICE 33 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0.46877816 PHONE_SUPPLY 2 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_ADJ_DBAND 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.0099999998 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TGT_DEFAULT_LAT 2115.4021

APOGEE_PITCH -5 GPS_DEVICE 16 PITCH_DBAND 0.0099999998 TGT_DEFAULT_LON -15824.54

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 23 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0128292 PITCH_GAIN_AUTO_DELTA 0 T_BOOST 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 T_DIVE 50

CAPMAXSIZE 400000 HEADING -1 PITCH_MAX 3857 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_GPS 5

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 203 T_LOITER 0

COMM_SEQ 7 ID 679 PITCH_TIMEOUT 25 T_MISSION 65

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.96e-06 PITCH_VBD_SHIFT 0.0012300001 T_NO_W 120

COMPASS_DEVICE 18 INT_PRESSURE_YINT 3.6099999 PITCH_W_DBAND 0 T_RSLEEP 2

COMPASS_USE 16388 KALMAN_USE 2 PITCH_W_GAIN 0 T_TURN 225

C_PITCH 3073 LOGGERDEVICE1 -1 PRESSURE_DEVICE 16 T_TURN_SAMPINT -5

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 65 PRESSURE_SLOPE 0.00010889 UNCOM_BLEED 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -155.92395 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2450 LOGGERDEVICE4 -1 PROTOCOL 9 USE_BATHY -6

C_ROLL_DIVE 2330 LOGGERS 0 RAFOS_CORR_THRESH 0 USE_ICE 0

C_VBD 3005 LOITER_DBDW 0 RAFOS_DEVICE -1 VBD_CNV -0.24529999

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 0 VBD_DBAND 2

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RAFOS_MMODEM 0 VBD_LP_IGNORE 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 VBD_MAX 3960

DEEPGLIDER 0 LOITER_W_DBAND 0 RELAUNCH 1 VBD_MAXERRORS 1

DEEPGLIDERMB 0 MASS 52600 RHO 1.023 VBD_MIN 600

DEVICE1 10 MAXI_10V 2 ROLL_ADJ_DBAND 0 VBD_TIMEOUT 720

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 WS_NDIVE 1.0

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 WS_PROFILE 0.0

DEVICE4 -1 MINV_10V 10 ROLL_DEG 40 WS_RECORDABOVE 0.0

DEVICE5 -1 MINV_24V 11.5 ROLL_MAX 3853 WS_STARTS 0.0

DEVICE6 -1 MISSION 5 ROLL_MAXERRORS 1 WS_UPLOADMAX 0.0

DIVE 4 MOTHERBOARD 6 ROLL_MIN 280 WS_XMITPROFILE 0.0

D_ABORT 165 NAV2_DEVICE -1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_BOOST 3 NAV3_DEVICE -1 SEABIRD_C_G -10.156337 XPDR_DEVICE 21

D_CALL 0 NAV4_DEVICE -1 SEABIRD_C_H 1.1403803 XPDR_INHIBIT 99

D_FINISH 0 NAV_DEVICE -1 SEABIRD_C_I -0.0031651331 XPDR_INT 10

D_FLARE 3 NAV_MODE 2 SEABIRD_C_J 0.00030728101 XPDR_REP 10.5

D_NO_BLEED 50 NETBOX 1 SEABIRD_T_G 0.0044058841 XPDR_VALID 6

D_OFFGRID 100 NETWORK_DEVICE -1 SEABIRD_T_H 0.00063403702

Pre-dive calculations and measurements:

GPS1 121023,183059,4743.993,-12223.790,14,0.9,14,16.3 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121023,183245,4743.992,-12223.777,5,0.9,14,16.3 MHEAD_RNG_PITCHd_Wd 177.9,1858,-19.2,-10.000,-23.59,2206,0.244

SPEED_LIMITS 0.173,0.229 D_GRID 169

TGT_NAME SE IRON 1.004000,-0.017800,0.011600,0.000200,1.042600,0.021100,-0.034100,0.047300,1.029900,-6.661700,30.672001,50.687401

TGT_LATLONG 4743.000,-12224.000 OSC 8000348

Post-dive calculations and measurements:

FINISH 0.0,1.008039 FG_AHR_10Vo 0.045

SURF forcing MEM0 60100,1,0,0

SM_CCo 2643.45,301.40,1.079,0,600.3,574.4,626.2,589.87 MEM1 65508,1,0,0

SM_GC 0.94,301.40,14.11,0.14,1.079,0.071,0.068,600.3,574.4,626.2,199.8,2237.2,0,0,0,12.38,15.85,15.93 MEM2 994844,28,51664,75

SUPER 27,70,254,1,0,0 DATA_FILE_SIZE 12975,343

IRIDIUM_FIX 4745.82,-12224.09,121023,182813 CAP_FILE_SIZE 179821,0

TCM_TEMP 19.60 SDSIZE 3964928,3951392

XPDR_PINGS 164,10.0,10.5 SDFILEDIR 78,6

HUMID 58.86 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 13.12 CURRENT 0.077,170.7,1

INTERNAL_PRESSURE 8.50747 MAGCAL 1.000000,-0.013978,0.004845,-0.008291,1.048851,-0.002088,0.006164,-0.002076,1.042149,-11.2,34.9,84.7,21,0.0103,0

_24V_AH 14.65,1.005 IMPLIED_C_PITCH 3081,31.14,174,0.0,0.00

_10V_AH 14.65,0.000 IMPLIED_C_VBD 2898,64.954788,174,0

FG_AHR_24Vo 0.576 GPS 121023,191719,4743.584,-12223.854,5,1.1,12,16.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 641 1284 12065.47 SBE_CT 169 23 58.82

Pitch_motor 33 362 176.88 nil 0 0 0.00

Roll_motor 54 119 95.09 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 252.27 nil 0 0 0.00

GPS 23 10 3.70 nil 0 0 0.00

Core 1145 8 141.62 nil 0 0 0.00

Fast 0 0 0.00 WISPR 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1197 2 35.09

Compass 488 16 117.30

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

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

3.40 16386 -146.63 -1.02 0.00 599.6 578.8 620.4 197.9 2282.9 0.00 0.00 0 128.40 121.46 0.00 0.00 0.005 0.000 0.000 3541.72 3587.50 3495.94 197.94 2282.06 0 0 0 14.83 30.00 30.00

128.71 18727 -146.63 -1.02 40.00 3540.3 3586.0 3494.6 197.9 2281.6 3.13 -1.88 24 157.26 1.32 14.81 2.58 0.021 0.322 0.069 3601.97 3661.06 3542.88 2745.69 3769.94 0 0 0 15.77 14.64 14.74

239.92 3205 -146.63 -0.90 0.00 3601.3 3661.0 3541.6 2745.8 3769.4 31.08 -23.66 45 245.66 0.00 0.21 2.45 0.000 0.238 0.037 3602.09 3661.44 3542.75 2785.75 2285.25 0 0 0 30.00 15.76 15.86

309.95 2437 -146.63 -0.81 40.00 3601.2 3660.7 3541.8 2786.1 2270.1 44.30 -16.72 59 315.70 0.00 0.14 2.60 0.000 0.268 0.074 3602.16 3662.69 3541.62 2813.25 3765.94 0 0 0 30.00 15.77 15.84

349.96 3205 -146.63 -0.75 0.00 3601.4 3660.9 3541.9 2813.7 3765.6 50.93 -16.54 67 355.59 0.00 0.09 2.46 0.000 0.233 0.041 3603.53 3662.19 3544.88 2832.38 2275.81 0 0 0 30.00 15.81 15.89

480.00 2693 -146.63 -0.70 -40.00 3601.4 3661.2 3541.6 2832.5 2261.1 73.04 -16.13 81 485.55 0.00 0.08 2.30 0.000 0.263 0.045 3602.91 3662.56 3543.25 2850.12 880.62 0 0 0 30.00 15.82 15.90

570.08 1156 -146.63 -0.69 0.00 3601.4 3660.8 3542.0 2849.2 880.6 86.69 -14.83 99 575.58 0.00 0.00 2.51 0.000 0.000 0.051 3602.75 3662.50 3543.00 2849.62 2353.44 0 0 0 30.00 30.00 15.93

700.04 2437 -146.63 -0.66 40.00 3601.4 3661.4 3541.4 2849.2 2353.6 106.82 -14.48 113 705.86 0.00 0.06 2.41 0.000 0.285 0.073 3601.12 3661.12 3541.12 2863.62 3764.81 0 0 0 30.00 15.83 15.91

730.08 3205 -146.63 -0.64 0.00 3601.5 3661.4 3541.5 2863.5 3765.4 110.79 -13.20 119 735.83 0.00 0.03 2.44 0.000 0.362 0.038 3603.09 3662.44 3543.75 2871.50 2277.81 0 0 0 30.00 15.86 15.95

860.10 2177 -146.63 -0.62 0.00 3601.4 3661.5 3541.4 2871.4 2264.1 126.91 -11.56 133 861.90 0.00 0.01 0.00 0.000 0.332 0.000 3600.62 3661.06 3540.19 2873.19 2262.56 0 0 0 30.00 30.36 30.00

990.05 260 -146.63 -0.62 40.00 3600.9 3661.1 3540.7 2873.4 2262.5 142.78 -12.05 146 995.89 0.00 0.00 2.61 0.000 0.000 0.077 3601.31 3661.31 3541.31 2872.25 3766.62 0 0 0 30.00 30.00 15.96

1050 end dive: TARGET_DEPTH_EXCEEDED

state 1050 begin apogee

1054.82 10243 0.00 -0.22 0.00 3601.0 3660.9 3541.1 2872.5 2397.1 150.53 -13.42 158 1166.14 104.37 0.65 0.14 1.285 0.193 0.120 3005.88 3041.00 2970.75 3004.44 2485.38 0 0 0 12.38 15.89 15.25

1167 end apogee: CONTROL_FINISHED_OK

state 1167 begin climb

1167.58 10243 146.63 1.02 0.00 3001.9 3037.8 2966.1 3004.2 2486.1 157.64 0.00 169 1289.84 112.61 1.99 0.00 1.248 0.138 0.000 2408.72 2426.62 2390.81 3401.75 2485.00 0 0 0 12.08 15.28 30.00

1412.50 21127 146.63 0.91 -40.00 2397.6 2416.6 2378.5 3402.1 2485.4 122.57 20.98 197 1418.45 0.00 0.23 2.57 0.000 0.207 0.051 2399.22 2418.62 2379.81 3356.38 1006.06 0 0 0 30.00 15.52 15.58

1457.47 21639 146.63 0.86 0.00 2396.8 2415.8 2377.8 3356.8 1006.1 114.07 17.69 206 1463.32 0.00 0.06 2.54 0.000 0.248 0.046 2396.38 2415.69 2377.06 3341.50 2484.25 0 0 0 30.00 15.55 15.65

1592.50 20871 146.63 0.80 40.00 2394.7 2415.3 2374.1 3342.1 2485.1 90.40 17.55 220 1598.21 0.00 0.09 2.39 0.000 0.263 0.066 2395.19 2415.56 2374.81 3323.69 3876.06 0 0 0 30.00 15.65 15.72

1627.50 21639 146.63 0.75 0.00 2393.8 2413.3 2374.3 3323.5 3877.1 84.35 17.20 227 1633.31 0.00 0.09 2.44 0.000 0.266 0.034 2395.50 2415.00 2376.00 3306.19 2406.12 0 0 0 30.00 15.64 15.77

1762.52 21127 146.63 0.71 -40.00 2393.0 2412.6 2373.4 3305.7 2392.5 64.94 14.38 241 1768.32 0.00 0.05 2.36 0.000 0.326 0.053 2393.66 2413.12 2374.19 3294.31 1006.94 0 0 0 30.00 15.72 15.80

1817.50 19591 146.63 0.72 0.00 2392.9 2412.1 2373.8 3294.7 1006.0 57.74 12.58 252 1823.34 0.00 0.05 2.51 0.000 0.227 0.046 2396.84 2415.88 2377.81 3315.00 2484.50 0 0 0 30.00 15.75 15.84

1947.53 20611 146.63 0.69 0.00 2392.6 2412.4 2372.8 3314.9 2485.4 39.71 14.25 272 1950.90 0.00 0.14 0.00 0.000 0.220 0.000 2395.38 2414.56 2376.19 3286.19 2486.94 0 0 0 30.00 15.79 30.00

2012.44 18695 146.63 0.69 40.00 2392.2 2412.4 2371.9 3286.1 2486.9 31.24 12.35 285 2018.25 0.00 0.04 2.38 0.000 0.277 0.068 2395.25 2415.56 2374.94 3302.81 3874.56 0 0 0 30.00 15.83 15.86

2057.54 21639 146.63 0.65 0.00 2391.8 2411.2 2372.4 3303.1 3875.3 25.21 13.73 294 2063.36 0.00 0.15 2.42 0.000 0.220 0.033 2394.09 2413.25 2374.94 3272.62 2402.69 0 0 0 30.00 15.77 15.90

2127.48 18951 146.63 0.65 -40.00 2391.4 2410.9 2372.0 3272.8 2391.2 17.42 11.11 308 2133.26 0.00 0.04 2.33 0.000 0.252 0.051 2395.25 2414.69 2375.81 3296.12 1006.00 0 0 0 30.00 15.85 15.89

2147.47 21511 146.63 0.65 0.00 2391.1 2410.2 2371.9 3295.1 1005.8 15.28 10.85 312 2153.39 0.00 0.10 2.49 0.000 0.204 0.046 2394.88 2413.25 2376.50 3272.69 2484.94 0 0 0 30.00 15.81 15.90

2217.59 2341 149.55 0.65 40.00 2391.0 2410.1 2371.8 3272.6 2484.1 8.11 9.86 326 2223.29 0.00 0.05 2.37 0.000 0.226 0.068 2391.59 2411.00 2372.19 3294.25 3878.06 0 0 0 30.00 15.86 15.89

2232.49 5125 149.55 0.65 0.00 2391.0 2410.2 2371.8 3294.1 3877.8 6.40 10.56 329 2238.35 0.00 0.09 2.41 0.000 0.246 0.031 2392.09 2411.62 2372.56 3275.19 2403.19 0 0 0 30.00 15.79 15.92

2268 end climb: SURFACE_DEPTH_REACHED

state 2268 begin surface coast

2303 end surface coast: CONTROL_FINISHED_OK

state 2303 begin surface

ID	679	TGT_DEFAULT_LAT	2115.4021	ROLL_CNV	0.028270001	XPDR_INHIBIT	99
MISSION	5	TGT_DEFAULT_LON	-15824.54	ROLL_TIMEOUT	15	XPDR_INT	10
DIVE	4	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	10.5
N_DIVES	4	SM_CC	613.25	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.96e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	3.6099999
D_SURF	3	FILEMGR	0	VBD_MIN	600	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	3005	MOTHERBOARD	6
D_ABORT	165	PROTOCOL	9	VBD_DBAND	2	DEVICE1	10
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	3	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	1	UNCOM_BLEED	60	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	0
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	65
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	400000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100840	LOITER_W_DBAND	0	COMPASS_DEVICE	18
T_MISSION	65	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	16
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	0	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_HIT_WINDOW	0	CF8_MAXERRORS	20	NAV_DEVICE	-1
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	NAV2_DEVICE	-1
T_EPIRB	0	PITCH_MIN	203	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-6	PITCH_MAX	3857	MINV_24V	11.5	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	3073	MINV_10V	10	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.0099999998	MAXI_24V	5	PRESSURE_DEVICE	16
D_OFFGRID	100	PITCH_CNV	0.003125763	MAXI_10V	2	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	23	FG_AHR_10V	0.039502956	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	0.46877816	SEABIRD_T_G	0.0044058841
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063403702
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.0099999998	PRESSURE_YINT	-155.92395	SEABIRD_T_I	2.5706999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00010889	SEABIRD_T_J	3.1687091e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_G	-10.156337
MASS	52600	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1403803
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0031651331
FERRY_MAX	55	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00030728101
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	WS_RECORDABOVE	0.0
HD_B	0.0128292	ROLL_MIN	280	ALTIM_PING_DEPTH	0	WS_PROFILE	0.0
HD_C	1.6e-05	ROLL_MAX	3853	ALTIM_PING_DELTA	0	WS_XMITPROFILE	0.0
HEADING	-1	ROLL_DEG	40	ALTIM_FREQUENCY	13	WS_UPLOADMAX	0.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2330	ALTIM_PULSE	9	WS_STARTS	0.0
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2450	ALTIM_SENSITIVITY	5	WS_NDIVE	1.0
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	121023,183059,4743.993,-12223.790,14,0.9,14,16.3	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121023,183245,4743.992,-12223.777,5,0.9,14,16.3	MHEAD_RNG_PITCHd_Wd	177.9,1858,-19.2,-10.000,-23.59,2206,0.244
SPEED_LIMITS	0.173,0.229	D_GRID	169
TGT_NAME	SE	IRON	1.004000,-0.017800,0.011600,0.000200,1.042600,0.021100,-0.034100,0.047300,1.029900,-6.661700,30.672001,50.687401
TGT_LATLONG	4743.000,-12224.000	OSC	8000348

FINISH	0.0,1.008039	FG_AHR_10Vo	0.045
SURF	forcing	MEM0	60100,1,0,0
SM_CCo	2643.45,301.40,1.079,0,600.3,574.4,626.2,589.87	MEM1	65508,1,0,0
SM_GC	0.94,301.40,14.11,0.14,1.079,0.071,0.068,600.3,574.4,626.2,199.8,2237.2,0,0,0,12.38,15.85,15.93	MEM2	994844,28,51664,75
SUPER	27,70,254,1,0,0	DATA_FILE_SIZE	12975,343
IRIDIUM_FIX	4745.82,-12224.09,121023,182813	CAP_FILE_SIZE	179821,0
TCM_TEMP	19.60	SDSIZE	3964928,3951392
XPDR_PINGS	164,10.0,10.5	SDFILEDIR	78,6
HUMID	58.86	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	13.12	CURRENT	0.077,170.7,1
INTERNAL_PRESSURE	8.50747	MAGCAL	1.000000,-0.013978,0.004845,-0.008291,1.048851,-0.002088,0.006164,-0.002076,1.042149,-11.2,34.9,84.7,21,0.0103,0
_24V_AH	14.65,1.005	IMPLIED_C_PITCH	3081,31.14,174,0.0,0.00
_10V_AH	14.65,0.000	IMPLIED_C_VBD	2898,64.954788,174,0
FG_AHR_24Vo	0.576	GPS	121023,191719,4743.584,-12223.854,5,1.1,12,16.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	641	1284	12065.47	SBE_CT	169	23	58.82
Pitch_motor	33	362	176.88	nil	0	0	0.00
Roll_motor	54	119	95.09	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	252.27	nil	0	0	0.00
GPS	23	10	3.70	nil	0	0	0.00
Core	1145	8	141.62	nil	0	0	0.00
Fast	0	0	0.00	WISPR	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1197	2	35.09
Compass	488	16	117.30
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
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
3.40	16386	-146.63	-1.02	0.00	599.6	578.8	620.4	197.9	2282.9	0.00	0.00	0	128.40	121.46	0.00	0.00	0.005	0.000	0.000	3541.72	3587.50	3495.94	197.94	2282.06	0	0	0	14.83	30.00	30.00
128.71	18727	-146.63	-1.02	40.00	3540.3	3586.0	3494.6	197.9	2281.6	3.13	-1.88	24	157.26	1.32	14.81	2.58	0.021	0.322	0.069	3601.97	3661.06	3542.88	2745.69	3769.94	0	0	0	15.77	14.64	14.74
239.92	3205	-146.63	-0.90	0.00	3601.3	3661.0	3541.6	2745.8	3769.4	31.08	-23.66	45	245.66	0.00	0.21	2.45	0.000	0.238	0.037	3602.09	3661.44	3542.75	2785.75	2285.25	0	0	0	30.00	15.76	15.86
309.95	2437	-146.63	-0.81	40.00	3601.2	3660.7	3541.8	2786.1	2270.1	44.30	-16.72	59	315.70	0.00	0.14	2.60	0.000	0.268	0.074	3602.16	3662.69	3541.62	2813.25	3765.94	0	0	0	30.00	15.77	15.84
349.96	3205	-146.63	-0.75	0.00	3601.4	3660.9	3541.9	2813.7	3765.6	50.93	-16.54	67	355.59	0.00	0.09	2.46	0.000	0.233	0.041	3603.53	3662.19	3544.88	2832.38	2275.81	0	0	0	30.00	15.81	15.89
480.00	2693	-146.63	-0.70	-40.00	3601.4	3661.2	3541.6	2832.5	2261.1	73.04	-16.13	81	485.55	0.00	0.08	2.30	0.000	0.263	0.045	3602.91	3662.56	3543.25	2850.12	880.62	0	0	0	30.00	15.82	15.90
570.08	1156	-146.63	-0.69	0.00	3601.4	3660.8	3542.0	2849.2	880.6	86.69	-14.83	99	575.58	0.00	0.00	2.51	0.000	0.000	0.051	3602.75	3662.50	3543.00	2849.62	2353.44	0	0	0	30.00	30.00	15.93
700.04	2437	-146.63	-0.66	40.00	3601.4	3661.4	3541.4	2849.2	2353.6	106.82	-14.48	113	705.86	0.00	0.06	2.41	0.000	0.285	0.073	3601.12	3661.12	3541.12	2863.62	3764.81	0	0	0	30.00	15.83	15.91
730.08	3205	-146.63	-0.64	0.00	3601.5	3661.4	3541.5	2863.5	3765.4	110.79	-13.20	119	735.83	0.00	0.03	2.44	0.000	0.362	0.038	3603.09	3662.44	3543.75	2871.50	2277.81	0	0	0	30.00	15.86	15.95
860.10	2177	-146.63	-0.62	0.00	3601.4	3661.5	3541.4	2871.4	2264.1	126.91	-11.56	133	861.90	0.00	0.01	0.00	0.000	0.332	0.000	3600.62	3661.06	3540.19	2873.19	2262.56	0	0	0	30.00	30.36	30.00
990.05	260	-146.63	-0.62	40.00	3600.9	3661.1	3540.7	2873.4	2262.5	142.78	-12.05	146	995.89	0.00	0.00	2.61	0.000	0.000	0.077	3601.31	3661.31	3541.31	2872.25	3766.62	0	0	0	30.00	30.00	15.96
1050	end dive: TARGET_DEPTH_EXCEEDED
state	1050	begin apogee
1054.82	10243	0.00	-0.22	0.00	3601.0	3660.9	3541.1	2872.5	2397.1	150.53	-13.42	158	1166.14	104.37	0.65	0.14	1.285	0.193	0.120	3005.88	3041.00	2970.75	3004.44	2485.38	0	0	0	12.38	15.89	15.25
1167	end apogee: CONTROL_FINISHED_OK
state	1167	begin climb
1167.58	10243	146.63	1.02	0.00	3001.9	3037.8	2966.1	3004.2	2486.1	157.64	0.00	169	1289.84	112.61	1.99	0.00	1.248	0.138	0.000	2408.72	2426.62	2390.81	3401.75	2485.00	0	0	0	12.08	15.28	30.00
1412.50	21127	146.63	0.91	-40.00	2397.6	2416.6	2378.5	3402.1	2485.4	122.57	20.98	197	1418.45	0.00	0.23	2.57	0.000	0.207	0.051	2399.22	2418.62	2379.81	3356.38	1006.06	0	0	0	30.00	15.52	15.58
1457.47	21639	146.63	0.86	0.00	2396.8	2415.8	2377.8	3356.8	1006.1	114.07	17.69	206	1463.32	0.00	0.06	2.54	0.000	0.248	0.046	2396.38	2415.69	2377.06	3341.50	2484.25	0	0	0	30.00	15.55	15.65
1592.50	20871	146.63	0.80	40.00	2394.7	2415.3	2374.1	3342.1	2485.1	90.40	17.55	220	1598.21	0.00	0.09	2.39	0.000	0.263	0.066	2395.19	2415.56	2374.81	3323.69	3876.06	0	0	0	30.00	15.65	15.72
1627.50	21639	146.63	0.75	0.00	2393.8	2413.3	2374.3	3323.5	3877.1	84.35	17.20	227	1633.31	0.00	0.09	2.44	0.000	0.266	0.034	2395.50	2415.00	2376.00	3306.19	2406.12	0	0	0	30.00	15.64	15.77
1762.52	21127	146.63	0.71	-40.00	2393.0	2412.6	2373.4	3305.7	2392.5	64.94	14.38	241	1768.32	0.00	0.05	2.36	0.000	0.326	0.053	2393.66	2413.12	2374.19	3294.31	1006.94	0	0	0	30.00	15.72	15.80
1817.50	19591	146.63	0.72	0.00	2392.9	2412.1	2373.8	3294.7	1006.0	57.74	12.58	252	1823.34	0.00	0.05	2.51	0.000	0.227	0.046	2396.84	2415.88	2377.81	3315.00	2484.50	0	0	0	30.00	15.75	15.84
1947.53	20611	146.63	0.69	0.00	2392.6	2412.4	2372.8	3314.9	2485.4	39.71	14.25	272	1950.90	0.00	0.14	0.00	0.000	0.220	0.000	2395.38	2414.56	2376.19	3286.19	2486.94	0	0	0	30.00	15.79	30.00
2012.44	18695	146.63	0.69	40.00	2392.2	2412.4	2371.9	3286.1	2486.9	31.24	12.35	285	2018.25	0.00	0.04	2.38	0.000	0.277	0.068	2395.25	2415.56	2374.94	3302.81	3874.56	0	0	0	30.00	15.83	15.86
2057.54	21639	146.63	0.65	0.00	2391.8	2411.2	2372.4	3303.1	3875.3	25.21	13.73	294	2063.36	0.00	0.15	2.42	0.000	0.220	0.033	2394.09	2413.25	2374.94	3272.62	2402.69	0	0	0	30.00	15.77	15.90
2127.48	18951	146.63	0.65	-40.00	2391.4	2410.9	2372.0	3272.8	2391.2	17.42	11.11	308	2133.26	0.00	0.04	2.33	0.000	0.252	0.051	2395.25	2414.69	2375.81	3296.12	1006.00	0	0	0	30.00	15.85	15.89
2147.47	21511	146.63	0.65	0.00	2391.1	2410.2	2371.9	3295.1	1005.8	15.28	10.85	312	2153.39	0.00	0.10	2.49	0.000	0.204	0.046	2394.88	2413.25	2376.50	3272.69	2484.94	0	0	0	30.00	15.81	15.90
2217.59	2341	149.55	0.65	40.00	2391.0	2410.1	2371.8	3272.6	2484.1	8.11	9.86	326	2223.29	0.00	0.05	2.37	0.000	0.226	0.068	2391.59	2411.00	2372.19	3294.25	3878.06	0	0	0	30.00	15.86	15.89
2232.49	5125	149.55	0.65	0.00	2391.0	2410.2	2371.8	3294.1	3877.8	6.40	10.56	329	2238.35	0.00	0.09	2.41	0.000	0.246	0.031	2392.09	2411.62	2372.56	3275.19	2403.19	0	0	0	30.00	15.79	15.92
2268	end climb: SURFACE_DEPTH_REACHED
state	2268	begin surface coast
2303	end surface coast: CONTROL_FINISHED_OK
state	2303	begin surface