Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 7 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 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 -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3015.2395 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 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 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1795.6194 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 18.18631 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.325019 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 6.6929073 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.325019 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.6929073 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 18.18631 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 240 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 -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1795.6194 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3015.2395 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72626 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 7 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250522,080331,4736.404,-12256.636,30,1.1,34,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,080641,4736.429,-12256.620,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 1.9,1092,-17.1,-9.697,-20.82,2278,0.142

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.227425,-872.630798,-495.129608

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

FINISH 1.4,1.019381 FG_AHR_10Vo 15.342

SM_CCo 4008.38,102.04,0.914,0,537.4,553.2,521.5,607.76 MEM0 60132,1,0,0

SM_GC 1.49,102.04,12.96,0.09,0.914,0.076,0.142,537.4,553.2,521.5,187.6,2122.4,0,0,0,11.80,15.61,15.65 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 944560,33,102128,61

IRIDIUM_FIX 4735.53,-12254.47,250522,065021 DATA_FILE_SIZE 16114,560

TCM_TEMP 17.45 CAP_FILE_SIZE 371276,0

SC_FREEKB 3876544 SDSIZE 3887104,3869824

RAFOS_CLK -2 SDFILEDIR 99,1

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.36 SOUNDSPEED 1465.0

TEMP 9.67 CURRENT 0.022, 77.0,1

INTERNAL_PRESSURE 7.96485 MAGCAL 1.000000,0.002300,0.008444,0.002962,1.079053,-0.089886,-0.004022,-0.078159,1.009034,35.5,-876.9,-461.1,36,0.0301,0

_24V_AH 14.93,7.933 IMPLIED_C_PITCH 1798,17.84,302,1796.9,18.01

_10V_AH 14.89,0.000 IMPLIED_C_VBD 3009,24.176704,302,3012.0

FG_AHR_24Vo 6.845 GPS 250522,091423,4736.784,-12256.331,1,1.1,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 633 1143 10807.92 nil 0 0 0.00

Pitch_motor 31 252 119.53 nil 0 0 0.00

Roll_motor 72 201 218.25 nil 0 0 0.00

Iridium 121 215 391.26 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 2372 5 180.90 SciCon 3884 6 374.81

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1691 0 8.06

Compass 1128 5 83.98

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

6.72 16386 -146.63 -1.12 0.00 496.2 518.3 474.1 193.5 2168.2 0.00 0.00 0 75.13 65.09 0.00 0.00 0.005 0.000 0.000 2364.69 2401.94 2327.44 193.56 2169.12 0 0 0 15.56 30.00 30.00

75.44 18727 -146.63 -1.12 80.00 2362.8 2399.4 2326.1 193.5 2168.6 3.29 -2.98 12 131.08 32.79 10.43 3.60 0.006 0.253 0.127 3612.69 3670.00 3555.38 1523.06 3618.00 0 0 0 15.91 15.74 15.82

154.54 3205 -146.63 -0.83 0.00 3613.1 3668.9 3557.3 1523.1 3618.1 10.91 -11.77 27 161.59 0.00 0.49 3.54 0.000 0.180 0.054 3613.25 3668.56 3557.94 1593.56 2121.44 0 0 0 30.00 15.80 15.88

344.08 676 -146.63 -0.88 -80.00 3613.6 3669.6 3557.6 1593.1 2120.8 25.71 -7.20 65 350.80 0.00 0.00 3.68 0.000 0.000 0.124 3615.50 3673.06 3557.94 1593.50 683.12 0 0 0 30.00 30.00 15.90

579.26 1060 -146.63 -0.88 0.00 3613.8 3669.6 3558.1 1593.8 682.9 44.59 -8.08 112 585.99 0.00 0.00 3.45 0.000 0.000 0.059 3614.31 3669.75 3558.88 1592.75 2171.19 0 0 0 30.00 30.00 16.00

767.84 4773 -146.63 -0.96 -80.00 3614.1 3670.1 3558.2 1593.6 2171.9 58.10 -7.16 138 775.13 0.00 0.27 3.79 0.000 0.077 0.120 3615.75 3670.56 3560.94 1547.56 681.94 0 0 0 30.00 16.03 15.99

797.91 1188 -146.63 -0.93 0.00 3614.3 3670.0 3558.6 1547.1 681.8 61.06 -8.25 144 805.31 0.00 0.00 3.43 0.000 0.000 0.057 3615.66 3671.19 3560.12 1547.75 2172.06 0 0 0 30.00 30.00 16.03

993.59 292 -146.63 -0.93 80.00 3614.8 3670.1 3559.4 1547.8 2171.3 79.02 -9.49 164 999.61 0.00 0.00 3.58 0.000 0.000 0.126 3615.47 3670.81 3560.12 1547.69 3617.12 0 0 0 30.00 30.00 16.02

1017.89 3205 -146.63 -0.87 0.00 3614.7 3669.6 3559.7 1548.0 3615.8 81.68 -9.98 169 1025.55 0.00 0.31 3.48 0.000 0.175 0.054 3615.22 3670.44 3560.00 1585.25 2122.00 0 0 0 30.00 16.02 16.06

1213.68 160 -146.63 -0.92 0.00 3615.0 3670.1 3559.9 1585.4 2122.1 96.74 -7.38 189 1215.25 0.00 0.00 0.00 0.000 0.000 0.000 3613.78 3668.81 3558.75 1585.44 2122.25 0 0 0 30.00 30.00 30.00

1399.70 4257 -146.63 -0.98 0.00 3615.3 3670.8 3559.9 1585.4 2121.4 111.41 -7.87 208 1401.52 0.00 0.25 0.00 0.000 0.082 0.000 3614.34 3669.56 3559.12 1542.75 2122.19 0 0 0 30.00 16.11 30.00

1589.56 260 -146.63 -0.98 80.00 3615.6 3670.8 3560.4 1542.8 2121.6 129.95 -9.98 227 1596.75 0.00 0.00 3.69 0.000 0.000 0.123 3617.28 3672.19 3562.38 1542.62 3615.44 0 0 0 30.00 30.00 16.08

1625.22 3205 -146.63 -0.90 0.00 3615.4 3670.3 3560.4 1542.9 3615.3 133.94 -11.20 234 1632.42 0.00 0.29 3.44 0.000 0.179 0.055 3616.06 3671.69 3560.44 1577.69 2121.50 0 0 0 30.00 16.07 16.12

1820.29 160 -146.63 -0.95 0.00 3615.2 3670.9 3559.6 1577.4 2121.1 151.28 -8.50 254 1821.86 0.00 0.00 0.00 0.000 0.000 0.000 3614.88 3669.81 3559.94 1577.44 2121.56 0 0 0 30.00 30.00 30.00

1930 end dive: TARGET_DEPTH_EXCEEDED

state 1930 begin apogee

1931.49 10243 0.00 -0.27 0.00 3615.4 3670.8 3560.1 1577.7 2177.9 160.70 -8.60 265 2044.10 102.42 1.02 0.10 1.143 0.147 0.202 3016.25 3073.25 2959.25 1729.75 2116.75 0 0 0 12.17 16.09 15.76

2045 end apogee: CONTROL_FINISHED_OK

state 2045 begin climb

2045.24 10243 146.63 1.12 0.00 3013.3 3071.5 2955.1 1729.8 2117.3 164.94 0.00 276 2161.12 106.12 2.33 0.00 1.106 0.119 0.000 2418.66 2489.62 2347.69 2067.88 2117.06 0 0 0 11.88 15.75 30.00

2344.68 4741 146.63 1.03 -80.00 2409.8 2484.9 2334.6 2067.8 2116.4 137.11 11.65 316 2352.24 0.00 0.26 3.71 0.000 0.168 0.130 2412.62 2488.38 2336.88 2037.31 682.06 0 0 0 30.00 15.74 15.73

2430.81 21639 146.63 0.90 0.00 2407.1 2482.4 2331.8 2037.5 682.0 126.09 12.83 333 2438.22 0.00 0.19 3.51 0.000 0.183 0.060 2406.34 2481.94 2330.75 2007.81 2168.12 0 0 0 30.00 15.77 15.83

2619.89 8354 172.86 0.97 0.00 2406.8 2482.3 2331.3 2007.4 2168.6 108.83 8.52 353 2641.96 20.25 0.00 0.00 0.991 0.000 0.000 2312.53 2389.50 2235.56 2007.31 2168.44 0 0 0 12.06 30.00 30.00

2829.92 10919 196.60 1.07 -80.00 2305.9 2386.5 2225.2 2007.3 2168.6 90.47 8.63 374 2857.69 19.41 0.34 3.83 0.973 0.073 0.128 2211.59 2292.38 2130.81 2064.25 684.31 0 0 0 11.94 15.93 15.83

2921.25 5253 196.60 0.93 0.00 2208.2 2288.8 2127.7 2063.6 684.2 78.73 14.19 392 2928.72 0.00 0.38 3.47 0.000 0.167 0.060 2208.16 2289.50 2126.81 2015.06 2169.12 0 0 0 30.00 15.86 15.90

3116.32 10919 203.88 1.02 -80.00 2206.9 2288.8 2125.1 2014.8 2168.9 60.00 9.37 412 3133.39 7.34 0.22 3.82 0.765 0.084 0.128 2182.03 2264.62 2099.44 2053.94 683.44 0 0 0 12.04 15.97 15.90

3196.95 5253 203.88 0.93 0.00 2180.1 2261.1 2099.0 2053.6 682.9 49.41 14.01 428 3204.09 0.00 0.31 3.46 0.000 0.168 0.059 2180.31 2261.75 2098.88 2013.25 2169.12 0 0 0 30.00 15.91 15.96

3387.70 10919 210.18 1.04 -80.00 2179.2 2261.4 2097.0 2013.6 2169.0 30.71 9.41 466 3405.41 6.91 0.25 3.81 0.731 0.082 0.127 2155.91 2239.56 2072.25 2056.94 683.56 0 0 0 12.06 16.02 15.95

3479.00 5253 210.18 0.96 0.00 2155.0 2237.8 2072.3 2056.7 683.4 19.27 12.77 484 3486.08 0.00 0.28 3.46 0.000 0.166 0.060 2157.41 2240.62 2074.19 2019.62 2170.38 0 0 0 30.00 15.95 16.00

3667.84 10919 323.43 1.29 -80.00 2153.7 2237.4 2069.9 2020.6 2169.6 6.03 4.61 521 3759.99 79.64 0.61 3.85 0.955 0.075 0.124 1695.97 1785.88 1606.06 2113.81 683.19 0 0 0 11.96 16.02 15.77

3768.60 11431 488.02 1.63 0.00 1692.3 1781.1 1603.5 2113.6 683.1 4.02 2.30 540 3871.03 91.25 0.49 3.47 0.921 0.077 0.054 1159.28 1236.94 1081.62 2197.94 2174.25 0 0 0 11.94 15.80 15.82

3871 end climb: SURFACE_DEPTH_REACHED

state 3871 begin surface coast

3875 end surface coast: CONTROL_FINISHED_OK

state 3875 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	7	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	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	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3015.2395	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	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	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1795.6194	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	18.18631	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.325019	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	6.6929073	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	250522,080331,4736.404,-12256.636,30,1.1,34,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,080641,4736.429,-12256.620,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	1.9,1092,-17.1,-9.697,-20.82,2278,0.142
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.227425,-872.630798,-495.129608
TGT_LATLONG	4737.000,-12256.400

FINISH	1.4,1.019381	FG_AHR_10Vo	15.342
SM_CCo	4008.38,102.04,0.914,0,537.4,553.2,521.5,607.76	MEM0	60132,1,0,0
SM_GC	1.49,102.04,12.96,0.09,0.914,0.076,0.142,537.4,553.2,521.5,187.6,2122.4,0,0,0,11.80,15.61,15.65	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	944560,33,102128,61
IRIDIUM_FIX	4735.53,-12254.47,250522,065021	DATA_FILE_SIZE	16114,560
TCM_TEMP	17.45	CAP_FILE_SIZE	371276,0
SC_FREEKB	3876544	SDSIZE	3887104,3869824
RAFOS_CLK	-2	SDFILEDIR	99,1
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.36	SOUNDSPEED	1465.0
TEMP	9.67	CURRENT	0.022, 77.0,1
INTERNAL_PRESSURE	7.96485	MAGCAL	1.000000,0.002300,0.008444,0.002962,1.079053,-0.089886,-0.004022,-0.078159,1.009034,35.5,-876.9,-461.1,36,0.0301,0
_24V_AH	14.93,7.933	IMPLIED_C_PITCH	1798,17.84,302,1796.9,18.01
_10V_AH	14.89,0.000	IMPLIED_C_VBD	3009,24.176704,302,3012.0
FG_AHR_24Vo	6.845	GPS	250522,091423,4736.784,-12256.331,1,1.1,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	633	1143	10807.92	nil	0	0	0.00
Pitch_motor	31	252	119.53	nil	0	0	0.00
Roll_motor	72	201	218.25	nil	0	0	0.00
Iridium	121	215	391.26	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	2372	5	180.90	SciCon	3884	6	374.81
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1691	0	8.06
Compass	1128	5	83.98
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
6.72	16386	-146.63	-1.12	0.00	496.2	518.3	474.1	193.5	2168.2	0.00	0.00	0	75.13	65.09	0.00	0.00	0.005	0.000	0.000	2364.69	2401.94	2327.44	193.56	2169.12	0	0	0	15.56	30.00	30.00
75.44	18727	-146.63	-1.12	80.00	2362.8	2399.4	2326.1	193.5	2168.6	3.29	-2.98	12	131.08	32.79	10.43	3.60	0.006	0.253	0.127	3612.69	3670.00	3555.38	1523.06	3618.00	0	0	0	15.91	15.74	15.82
154.54	3205	-146.63	-0.83	0.00	3613.1	3668.9	3557.3	1523.1	3618.1	10.91	-11.77	27	161.59	0.00	0.49	3.54	0.000	0.180	0.054	3613.25	3668.56	3557.94	1593.56	2121.44	0	0	0	30.00	15.80	15.88
344.08	676	-146.63	-0.88	-80.00	3613.6	3669.6	3557.6	1593.1	2120.8	25.71	-7.20	65	350.80	0.00	0.00	3.68	0.000	0.000	0.124	3615.50	3673.06	3557.94	1593.50	683.12	0	0	0	30.00	30.00	15.90
579.26	1060	-146.63	-0.88	0.00	3613.8	3669.6	3558.1	1593.8	682.9	44.59	-8.08	112	585.99	0.00	0.00	3.45	0.000	0.000	0.059	3614.31	3669.75	3558.88	1592.75	2171.19	0	0	0	30.00	30.00	16.00
767.84	4773	-146.63	-0.96	-80.00	3614.1	3670.1	3558.2	1593.6	2171.9	58.10	-7.16	138	775.13	0.00	0.27	3.79	0.000	0.077	0.120	3615.75	3670.56	3560.94	1547.56	681.94	0	0	0	30.00	16.03	15.99
797.91	1188	-146.63	-0.93	0.00	3614.3	3670.0	3558.6	1547.1	681.8	61.06	-8.25	144	805.31	0.00	0.00	3.43	0.000	0.000	0.057	3615.66	3671.19	3560.12	1547.75	2172.06	0	0	0	30.00	30.00	16.03
993.59	292	-146.63	-0.93	80.00	3614.8	3670.1	3559.4	1547.8	2171.3	79.02	-9.49	164	999.61	0.00	0.00	3.58	0.000	0.000	0.126	3615.47	3670.81	3560.12	1547.69	3617.12	0	0	0	30.00	30.00	16.02
1017.89	3205	-146.63	-0.87	0.00	3614.7	3669.6	3559.7	1548.0	3615.8	81.68	-9.98	169	1025.55	0.00	0.31	3.48	0.000	0.175	0.054	3615.22	3670.44	3560.00	1585.25	2122.00	0	0	0	30.00	16.02	16.06
1213.68	160	-146.63	-0.92	0.00	3615.0	3670.1	3559.9	1585.4	2122.1	96.74	-7.38	189	1215.25	0.00	0.00	0.00	0.000	0.000	0.000	3613.78	3668.81	3558.75	1585.44	2122.25	0	0	0	30.00	30.00	30.00
1399.70	4257	-146.63	-0.98	0.00	3615.3	3670.8	3559.9	1585.4	2121.4	111.41	-7.87	208	1401.52	0.00	0.25	0.00	0.000	0.082	0.000	3614.34	3669.56	3559.12	1542.75	2122.19	0	0	0	30.00	16.11	30.00
1589.56	260	-146.63	-0.98	80.00	3615.6	3670.8	3560.4	1542.8	2121.6	129.95	-9.98	227	1596.75	0.00	0.00	3.69	0.000	0.000	0.123	3617.28	3672.19	3562.38	1542.62	3615.44	0	0	0	30.00	30.00	16.08
1625.22	3205	-146.63	-0.90	0.00	3615.4	3670.3	3560.4	1542.9	3615.3	133.94	-11.20	234	1632.42	0.00	0.29	3.44	0.000	0.179	0.055	3616.06	3671.69	3560.44	1577.69	2121.50	0	0	0	30.00	16.07	16.12
1820.29	160	-146.63	-0.95	0.00	3615.2	3670.9	3559.6	1577.4	2121.1	151.28	-8.50	254	1821.86	0.00	0.00	0.00	0.000	0.000	0.000	3614.88	3669.81	3559.94	1577.44	2121.56	0	0	0	30.00	30.00	30.00
1930	end dive: TARGET_DEPTH_EXCEEDED
state	1930	begin apogee
1931.49	10243	0.00	-0.27	0.00	3615.4	3670.8	3560.1	1577.7	2177.9	160.70	-8.60	265	2044.10	102.42	1.02	0.10	1.143	0.147	0.202	3016.25	3073.25	2959.25	1729.75	2116.75	0	0	0	12.17	16.09	15.76
2045	end apogee: CONTROL_FINISHED_OK
state	2045	begin climb
2045.24	10243	146.63	1.12	0.00	3013.3	3071.5	2955.1	1729.8	2117.3	164.94	0.00	276	2161.12	106.12	2.33	0.00	1.106	0.119	0.000	2418.66	2489.62	2347.69	2067.88	2117.06	0	0	0	11.88	15.75	30.00
2344.68	4741	146.63	1.03	-80.00	2409.8	2484.9	2334.6	2067.8	2116.4	137.11	11.65	316	2352.24	0.00	0.26	3.71	0.000	0.168	0.130	2412.62	2488.38	2336.88	2037.31	682.06	0	0	0	30.00	15.74	15.73
2430.81	21639	146.63	0.90	0.00	2407.1	2482.4	2331.8	2037.5	682.0	126.09	12.83	333	2438.22	0.00	0.19	3.51	0.000	0.183	0.060	2406.34	2481.94	2330.75	2007.81	2168.12	0	0	0	30.00	15.77	15.83
2619.89	8354	172.86	0.97	0.00	2406.8	2482.3	2331.3	2007.4	2168.6	108.83	8.52	353	2641.96	20.25	0.00	0.00	0.991	0.000	0.000	2312.53	2389.50	2235.56	2007.31	2168.44	0	0	0	12.06	30.00	30.00
2829.92	10919	196.60	1.07	-80.00	2305.9	2386.5	2225.2	2007.3	2168.6	90.47	8.63	374	2857.69	19.41	0.34	3.83	0.973	0.073	0.128	2211.59	2292.38	2130.81	2064.25	684.31	0	0	0	11.94	15.93	15.83
2921.25	5253	196.60	0.93	0.00	2208.2	2288.8	2127.7	2063.6	684.2	78.73	14.19	392	2928.72	0.00	0.38	3.47	0.000	0.167	0.060	2208.16	2289.50	2126.81	2015.06	2169.12	0	0	0	30.00	15.86	15.90
3116.32	10919	203.88	1.02	-80.00	2206.9	2288.8	2125.1	2014.8	2168.9	60.00	9.37	412	3133.39	7.34	0.22	3.82	0.765	0.084	0.128	2182.03	2264.62	2099.44	2053.94	683.44	0	0	0	12.04	15.97	15.90
3196.95	5253	203.88	0.93	0.00	2180.1	2261.1	2099.0	2053.6	682.9	49.41	14.01	428	3204.09	0.00	0.31	3.46	0.000	0.168	0.059	2180.31	2261.75	2098.88	2013.25	2169.12	0	0	0	30.00	15.91	15.96
3387.70	10919	210.18	1.04	-80.00	2179.2	2261.4	2097.0	2013.6	2169.0	30.71	9.41	466	3405.41	6.91	0.25	3.81	0.731	0.082	0.127	2155.91	2239.56	2072.25	2056.94	683.56	0	0	0	12.06	16.02	15.95
3479.00	5253	210.18	0.96	0.00	2155.0	2237.8	2072.3	2056.7	683.4	19.27	12.77	484	3486.08	0.00	0.28	3.46	0.000	0.166	0.060	2157.41	2240.62	2074.19	2019.62	2170.38	0	0	0	30.00	15.95	16.00
3667.84	10919	323.43	1.29	-80.00	2153.7	2237.4	2069.9	2020.6	2169.6	6.03	4.61	521	3759.99	79.64	0.61	3.85	0.955	0.075	0.124	1695.97	1785.88	1606.06	2113.81	683.19	0	0	0	11.96	16.02	15.77
3768.60	11431	488.02	1.63	0.00	1692.3	1781.1	1603.5	2113.6	683.1	4.02	2.30	540	3871.03	91.25	0.49	3.47	0.921	0.077	0.054	1159.28	1236.94	1081.62	2197.94	2174.25	0	0	0	11.94	15.80	15.82
3871	end climb: SURFACE_DEPTH_REACHED
state	3871	begin surface coast
3875	end surface coast: CONTROL_FINISHED_OK
state	3875	begin surface