Glider dive log

AMOS 26Aug20 * SG235 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 4 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 521.26251 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2625 MOTHERBOARD 6

D_TGT 210 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 250 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 500 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 70 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 85 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 1 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 350 RAFOS_DEVICE 104

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE 1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 5 SIM_W 0

USE_BATHY 0 PITCH_MIN 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 11.162177 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 13.592643 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 990 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -158.7446 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 20 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72133 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1935 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 350 D_TGT 210 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 11.162177 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 13.592643 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 20 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 521.26251

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 7.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 70

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2575 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 1935 LOGGERDEVICE4 -1 PRESSURE_YINT -158.7446 T_MISSION 85

C_ROLL_DIVE 2000 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2625 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 1

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 -1 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 72133 RELAUNCH 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.5 RHO 1.0275 USE_ICE 0

DEVICE4 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 2 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 4 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 600 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 2 SC_PROFILE 7.0 XPDR_INHIBIT 90

D_OFFGRID 990 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 260820,164021,5101.679,-13354.054,1,0.9,3,16.8 TGT_RADIUS 2000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260820,164455,5101.675,-13354.103,2,0.9,4,16.8 MHEAD_RNG_PITCHd_Wd 183.2,4586,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 210

TGT_NAME ans0 WARN HPMAR logging already started

TGT_LATLONG 5100.000,-13357.000

Post-dive calculations and measurements:

NET_PING 4178,0,192.299423,0.000000 RAFOS_CLK 1

NET CACST,6,0,20200826175506.780582,05,32767,45,0101,0150,07,00,00,00,00,1,000,235,0,5,1,0,150,30.4,170.00,-100,-167.00,-01,0.37,58,10000,5000*76 MODEM 0,1598461441,51.01860,-133.89999,241.574,360353.7

MODEM_MSG CACST,6,0,20200826170401.574490,18,26509,38,0229,0150,246,02,02,01,02,1,000,255,0,5,1,0,150,8.2,7.05,-100,-4.05,-01,-0.06,69,925,0025*3F RAFOS_FIX 5411.181641,-13500.207031,260820,171701,1,2,315.32

_99ddda187a869201d3b0a2c *0E HUMID 57.14

c *09 TEMP 10.01

_7604a835e9 *68 INTERNAL_PRESSURE 8.01602

WARN HPMAR logging already started _24V_AH 15.11,5.713

ac1221501c *32 _10V_AH 15.00,0.000

_906033ae8171d4369a28362 *57 FG_AHR_24Vo 13.789

_2aa522568f3869cb4509028 *58 FG_AHR_10Vo 11.226

FINISH 0.2,1.023872 MEM 1151760,35,24788,89

SM_CCo 4574.32,0.00,0.000,0,495.7,578.2,413.1,522.33 DATA_FILE_SIZE 19331,699

SM_GC 1.61,0.00,17.01,0.14,0.000,0.055,0.160,495.7,578.2,413.1,217.8,2017.4,0,0,0,30.00,15.75,15.74 CAP_FILE_SIZE 227671,0

SUPER 27,71,254,1,0,0 SDSIZE 3918848,3859424

IRIDIUM_FIX 5101.52,-13352.22,260820,164056 SDFILEDIR 79,1

TCM_TEMP 13.22 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3878144 SOUNDSPEED 1465.0

PM_FREEKB_00 61891840 CURRENT 0.099,345.8,1

PM_FREEKB_01 62343040 GPS 260820,180223,5101.357,-13354.333,2,1.5,6,16.8

PM_ACTIVECARD 0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 609 1451 13359.08 nil 0 0 0.00

Pitch_motor 40 265 163.30 nil 0 0 0.00

Roll_motor 85 389 502.52 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 2.96 nil 0 0 0.00

Core 3133 10 475.66 SciCon 4493 6 422.23

LPSleep 1520 1 25.54 PMAR 4502 12 861.01

Compass 1623 5 121.79 nil 0 0 0.00

RAFOS 873 40 523.80

Transponder 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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

11.75 16386 -145.99 -1.06 0.00 497.7 557.2 438.1 231.6 2010.9 0.00 0.00 0 93.03 79.22 0.00 0.00 0.005 0.000 0.000 2373.72 2376.50 2370.94 231.75 2011.94 0 0 0 15.30 30.00 30.00

93.29 18727 -145.99 -1.06 80.00 2372.7 2376.1 2369.3 231.4 2012.9 3.14 -1.99 15 142.90 22.48 15.09 3.46 0.006 0.266 0.165 3217.56 3248.88 3186.25 2317.00 3407.88 0 0 0 16.02 15.89 15.88

176.60 1028 -145.99 -1.06 0.00 3218.1 3250.9 3185.2 2317.4 3407.6 15.24 -16.47 31 183.08 0.00 0.00 3.34 0.000 0.000 0.104 3219.50 3251.31 3187.69 2317.00 1985.94 0 0 0 30.00 30.00 15.94

365.83 644 -145.99 -1.13 -80.00 3218.2 3250.8 3185.6 2316.8 1986.1 45.30 -12.67 69 372.33 0.00 0.00 3.54 0.000 0.000 0.200 3218.72 3251.25 3186.19 2316.94 592.69 0 0 0 30.00 30.00 15.96

521.08 1028 -145.99 -1.13 0.00 3218.6 3250.8 3186.4 2317.2 592.5 63.47 -11.35 100 527.58 0.00 0.00 3.33 0.000 0.000 0.106 3220.25 3252.88 3187.62 2317.06 2011.06 0 0 0 30.00 30.00 16.07

707.41 4517 -145.99 -1.21 80.00 3218.6 3251.2 3186.0 2317.1 2010.0 79.50 -7.72 137 718.44 0.00 0.29 3.51 0.000 0.074 0.196 3220.88 3253.38 3188.38 2262.56 3406.06 0 0 0 30.00 16.06 16.04

777.48 3205 -145.99 -1.13 0.00 3219.1 3252.6 3185.6 2262.7 3405.9 87.32 -11.99 151 783.95 0.00 0.30 3.38 0.000 0.165 0.131 3221.06 3253.25 3188.88 2303.12 1989.38 0 0 0 30.00 16.06 16.06

972.67 644 -145.99 -1.21 -80.00 3218.8 3252.1 3185.4 2303.2 1989.6 108.73 -12.01 182 979.08 0.00 0.00 3.63 0.000 0.000 0.228 3218.91 3251.88 3185.94 2303.50 595.00 0 0 0 30.00 30.00 16.02

1111.58 1028 -145.99 -1.21 0.00 3219.3 3251.4 3187.3 2303.5 594.8 127.28 -11.84 210 1119.64 0.00 0.00 3.41 0.000 0.000 0.139 3220.16 3252.81 3187.50 2302.88 2006.56 0 0 0 30.00 30.00 16.01

1418.24 4773 -145.99 -1.33 -80.00 3218.5 3251.1 3185.9 2303.2 2006.1 154.02 -7.98 241 1425.29 0.00 0.37 3.71 0.000 0.069 0.239 3218.69 3251.19 3186.19 2231.25 594.69 0 0 0 30.00 16.10 16.02

1474.07 3205 -145.99 -1.07 0.00 3219.2 3252.5 3185.9 2232.0 595.1 161.16 -13.98 252 1481.09 0.00 0.60 3.42 0.000 0.176 0.147 3220.50 3252.19 3188.81 2315.75 2008.62 0 0 0 30.00 16.05 16.07

1781.68 4517 -145.99 -1.24 80.00 3218.4 3252.2 3184.6 2315.8 2008.4 188.84 -8.70 283 1793.19 0.00 0.32 3.67 0.000 0.071 0.231 3218.06 3252.06 3184.06 2253.81 3405.25 0 0 0 30.00 16.12 15.41

1842.04 3205 -145.99 -1.16 0.00 3217.7 3251.8 3183.5 2253.8 3404.8 195.68 -11.33 295 1852.97 0.00 0.29 3.48 0.000 0.171 0.154 3219.00 3253.00 3185.00 2294.00 1989.25 0 0 0 30.00 15.98 15.98

2002 end dive: TARGET_DEPTH_EXCEEDED

state 2002 begin apogee

2003.10 10243 0.00 -0.25 0.00 3217.9 3252.3 3183.5 2294.2 1924.8 210.53 -8.82 312 2112.66 105.23 1.44 0.04 1.451 0.142 0.389 2626.22 2694.94 2557.50 2515.38 1952.56 0 0 0 11.98 16.03 15.65

2114 end apogee: CONTROL_FINISHED_OK

state 2114 begin climb

2114.02 10503 145.99 1.06 80.00 2622.4 2690.7 2554.1 2515.5 1952.5 212.21 0.00 323 2234.94 109.04 1.98 3.88 1.382 0.087 0.212 2027.44 2116.94 1937.94 2837.56 3395.12 0 0 0 11.86 15.65 15.41

2253.71 5253 145.99 0.79 0.00 2023.2 2109.4 1937.0 2838.2 3395.1 202.76 10.56 349 2264.83 0.00 0.59 3.74 0.000 0.203 0.155 2023.91 2110.19 1937.62 2760.12 1925.56 0 0 0 30.00 15.52 15.51

2563.28 10663 173.75 0.88 80.00 2018.6 2103.2 1934.0 2759.6 1925.1 175.71 8.71 381 2595.66 21.82 0.20 3.87 1.287 0.091 0.207 1917.06 2004.94 1829.19 2799.75 3395.62 0 0 0 12.00 15.83 15.68

2634.39 5253 173.75 0.79 0.00 1911.2 1995.4 1826.9 2800.6 3394.3 168.10 11.21 395 2641.44 0.00 0.29 3.66 0.000 0.194 0.153 1909.59 1994.00 1825.19 2759.81 1925.88 0 0 0 30.00 15.75 15.75

2941.93 10403 240.14 0.98 0.00 1909.4 1994.4 1824.4 2758.6 1925.6 143.06 6.91 427 2997.76 50.47 0.34 0.00 1.339 0.075 0.000 1646.41 1740.44 1552.38 2825.25 1925.94 0 0 0 11.91 15.95 30.00

3300.49 8486 263.26 1.01 80.00 1637.8 1725.1 1550.4 2825.1 1925.2 109.91 8.92 465 3326.36 18.61 0.00 3.80 1.236 0.000 0.195 1551.22 1637.81 1464.62 2826.25 3396.44 0 0 0 11.92 30.00 15.78

3371.01 9382 295.16 1.10 0.00 1547.8 1630.9 1464.6 2824.9 3395.8 104.00 8.52 479 3406.50 26.30 0.00 3.61 1.258 0.000 0.135 1422.81 1513.19 1332.44 2825.12 1924.62 0 0 0 12.02 30.00 15.81

3706.52 10919 329.56 1.26 -80.00 1414.8 1500.4 1329.1 2825.2 1924.1 78.59 8.40 544 3744.06 27.69 0.34 3.49 1.253 0.077 0.217 1281.28 1372.44 1190.12 2893.44 594.81 0 0 0 12.03 15.87 15.69

3747.78 5253 329.56 1.19 0.00 1280.2 1370.6 1189.7 2893.2 594.8 74.09 11.58 552 3754.30 0.00 0.30 3.21 0.000 0.204 0.099 1280.09 1370.69 1189.50 2857.69 1946.38 0 0 0 30.00 15.71 15.77

3935.55 10663 368.00 1.36 80.00 1277.1 1366.8 1187.5 2857.3 1945.3 56.34 8.21 590 3973.86 30.75 0.32 3.70 1.237 0.079 0.184 1124.28 1219.81 1028.75 2914.12 3395.62 0 0 0 11.92 15.88 15.66

4012.10 1156 368.00 1.31 0.00 1123.5 1216.3 1030.8 2914.0 3394.5 47.18 13.13 605 4018.62 0.00 0.00 3.57 0.000 0.000 0.119 1124.72 1217.50 1031.94 2912.75 1924.81 0 0 0 30.00 30.00 15.77

4197.84 8870 465.49 1.49 -80.00 1121.0 1212.6 1029.4 2914.6 1925.1 31.85 5.47 642 4281.20 74.16 0.00 3.47 1.229 0.000 0.199 727.72 832.06 623.38 2915.50 593.88 0 0 0 11.91 30.00 15.58

4289.94 11431 551.21 1.78 0.00 727.2 830.6 623.9 2914.9 593.6 26.72 6.01 660 4341.96 43.47 0.57 3.17 1.165 0.069 0.078 500.69 594.00 407.38 3017.81 1950.00 0 0 0 11.83 15.67 15.66

4481 end climb: SURFACE_DEPTH_REACHED

state 4481 begin surface coast

4491 end surface coast: CONTROL_FINISHED_OK

state 4491 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	4	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	521.26251	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2625	MOTHERBOARD	6
D_TGT	210	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	250	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	500	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	70	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	85	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	1	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	350	RAFOS_DEVICE	104
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	5	SIM_W	0
USE_BATHY	0	PITCH_MIN	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	11.162177	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	13.592643	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-158.7446	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	20	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72133	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	600	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3400	ALTIM_PING_DELTA	0	PM_PROFILE	7.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	1935	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	1.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	260820,164021,5101.679,-13354.054,1,0.9,3,16.8	TGT_RADIUS	2000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260820,164455,5101.675,-13354.103,2,0.9,4,16.8	MHEAD_RNG_PITCHd_Wd	183.2,4586,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	210
TGT_NAME	ans0	WARN	HPMAR logging already started
TGT_LATLONG	5100.000,-13357.000

NET_PING	4178,0,192.299423,0.000000	RAFOS_CLK	1
NET	CACST,6,0,20200826175506.780582,05,32767,45,0101,0150,07,00,00,00,00,1,000,235,0,5,1,0,150,30.4,170.00,-100,-167.00,-01,0.37,58,10000,5000*76	MODEM	0,1598461441,51.01860,-133.89999,241.574,360353.7
MODEM_MSG	CACST,6,0,20200826170401.574490,18,26509,38,0229,0150,246,02,02,01,02,1,000,255,0,5,1,0,150,8.2,7.05,-100,-4.05,-01,-0.06,69,925,0025*3F	RAFOS_FIX	5411.181641,-13500.207031,260820,171701,1,2,315.32
_99ddda187a869201d3b0a2c	*0E	HUMID	57.14
c	*09	TEMP	10.01
_7604a835e9	*68	INTERNAL_PRESSURE	8.01602
WARN	HPMAR logging already started	_24V_AH	15.11,5.713
ac1221501c	*32	_10V_AH	15.00,0.000
_906033ae8171d4369a28362	*57	FG_AHR_24Vo	13.789
_2aa522568f3869cb4509028	*58	FG_AHR_10Vo	11.226
FINISH	0.2,1.023872	MEM	1151760,35,24788,89
SM_CCo	4574.32,0.00,0.000,0,495.7,578.2,413.1,522.33	DATA_FILE_SIZE	19331,699
SM_GC	1.61,0.00,17.01,0.14,0.000,0.055,0.160,495.7,578.2,413.1,217.8,2017.4,0,0,0,30.00,15.75,15.74	CAP_FILE_SIZE	227671,0
SUPER	27,71,254,1,0,0	SDSIZE	3918848,3859424
IRIDIUM_FIX	5101.52,-13352.22,260820,164056	SDFILEDIR	79,1
TCM_TEMP	13.22	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3878144	SOUNDSPEED	1465.0
PM_FREEKB_00	61891840	CURRENT	0.099,345.8,1
PM_FREEKB_01	62343040	GPS	260820,180223,5101.357,-13354.333,2,1.5,6,16.8
PM_ACTIVECARD	0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	609	1451	13359.08	nil	0	0	0.00
Pitch_motor	40	265	163.30	nil	0	0	0.00
Roll_motor	85	389	502.52	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	2.96	nil	0	0	0.00
Core	3133	10	475.66	SciCon	4493	6	422.23
LPSleep	1520	1	25.54	PMAR	4502	12	861.01
Compass	1623	5	121.79	nil	0	0	0.00
RAFOS	873	40	523.80
Transponder	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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
11.75	16386	-145.99	-1.06	0.00	497.7	557.2	438.1	231.6	2010.9	0.00	0.00	0	93.03	79.22	0.00	0.00	0.005	0.000	0.000	2373.72	2376.50	2370.94	231.75	2011.94	0	0	0	15.30	30.00	30.00
93.29	18727	-145.99	-1.06	80.00	2372.7	2376.1	2369.3	231.4	2012.9	3.14	-1.99	15	142.90	22.48	15.09	3.46	0.006	0.266	0.165	3217.56	3248.88	3186.25	2317.00	3407.88	0	0	0	16.02	15.89	15.88
176.60	1028	-145.99	-1.06	0.00	3218.1	3250.9	3185.2	2317.4	3407.6	15.24	-16.47	31	183.08	0.00	0.00	3.34	0.000	0.000	0.104	3219.50	3251.31	3187.69	2317.00	1985.94	0	0	0	30.00	30.00	15.94
365.83	644	-145.99	-1.13	-80.00	3218.2	3250.8	3185.6	2316.8	1986.1	45.30	-12.67	69	372.33	0.00	0.00	3.54	0.000	0.000	0.200	3218.72	3251.25	3186.19	2316.94	592.69	0	0	0	30.00	30.00	15.96
521.08	1028	-145.99	-1.13	0.00	3218.6	3250.8	3186.4	2317.2	592.5	63.47	-11.35	100	527.58	0.00	0.00	3.33	0.000	0.000	0.106	3220.25	3252.88	3187.62	2317.06	2011.06	0	0	0	30.00	30.00	16.07
707.41	4517	-145.99	-1.21	80.00	3218.6	3251.2	3186.0	2317.1	2010.0	79.50	-7.72	137	718.44	0.00	0.29	3.51	0.000	0.074	0.196	3220.88	3253.38	3188.38	2262.56	3406.06	0	0	0	30.00	16.06	16.04
777.48	3205	-145.99	-1.13	0.00	3219.1	3252.6	3185.6	2262.7	3405.9	87.32	-11.99	151	783.95	0.00	0.30	3.38	0.000	0.165	0.131	3221.06	3253.25	3188.88	2303.12	1989.38	0	0	0	30.00	16.06	16.06
972.67	644	-145.99	-1.21	-80.00	3218.8	3252.1	3185.4	2303.2	1989.6	108.73	-12.01	182	979.08	0.00	0.00	3.63	0.000	0.000	0.228	3218.91	3251.88	3185.94	2303.50	595.00	0	0	0	30.00	30.00	16.02
1111.58	1028	-145.99	-1.21	0.00	3219.3	3251.4	3187.3	2303.5	594.8	127.28	-11.84	210	1119.64	0.00	0.00	3.41	0.000	0.000	0.139	3220.16	3252.81	3187.50	2302.88	2006.56	0	0	0	30.00	30.00	16.01
1418.24	4773	-145.99	-1.33	-80.00	3218.5	3251.1	3185.9	2303.2	2006.1	154.02	-7.98	241	1425.29	0.00	0.37	3.71	0.000	0.069	0.239	3218.69	3251.19	3186.19	2231.25	594.69	0	0	0	30.00	16.10	16.02
1474.07	3205	-145.99	-1.07	0.00	3219.2	3252.5	3185.9	2232.0	595.1	161.16	-13.98	252	1481.09	0.00	0.60	3.42	0.000	0.176	0.147	3220.50	3252.19	3188.81	2315.75	2008.62	0	0	0	30.00	16.05	16.07
1781.68	4517	-145.99	-1.24	80.00	3218.4	3252.2	3184.6	2315.8	2008.4	188.84	-8.70	283	1793.19	0.00	0.32	3.67	0.000	0.071	0.231	3218.06	3252.06	3184.06	2253.81	3405.25	0	0	0	30.00	16.12	15.41
1842.04	3205	-145.99	-1.16	0.00	3217.7	3251.8	3183.5	2253.8	3404.8	195.68	-11.33	295	1852.97	0.00	0.29	3.48	0.000	0.171	0.154	3219.00	3253.00	3185.00	2294.00	1989.25	0	0	0	30.00	15.98	15.98
2002	end dive: TARGET_DEPTH_EXCEEDED
state	2002	begin apogee
2003.10	10243	0.00	-0.25	0.00	3217.9	3252.3	3183.5	2294.2	1924.8	210.53	-8.82	312	2112.66	105.23	1.44	0.04	1.451	0.142	0.389	2626.22	2694.94	2557.50	2515.38	1952.56	0	0	0	11.98	16.03	15.65
2114	end apogee: CONTROL_FINISHED_OK
state	2114	begin climb
2114.02	10503	145.99	1.06	80.00	2622.4	2690.7	2554.1	2515.5	1952.5	212.21	0.00	323	2234.94	109.04	1.98	3.88	1.382	0.087	0.212	2027.44	2116.94	1937.94	2837.56	3395.12	0	0	0	11.86	15.65	15.41
2253.71	5253	145.99	0.79	0.00	2023.2	2109.4	1937.0	2838.2	3395.1	202.76	10.56	349	2264.83	0.00	0.59	3.74	0.000	0.203	0.155	2023.91	2110.19	1937.62	2760.12	1925.56	0	0	0	30.00	15.52	15.51
2563.28	10663	173.75	0.88	80.00	2018.6	2103.2	1934.0	2759.6	1925.1	175.71	8.71	381	2595.66	21.82	0.20	3.87	1.287	0.091	0.207	1917.06	2004.94	1829.19	2799.75	3395.62	0	0	0	12.00	15.83	15.68
2634.39	5253	173.75	0.79	0.00	1911.2	1995.4	1826.9	2800.6	3394.3	168.10	11.21	395	2641.44	0.00	0.29	3.66	0.000	0.194	0.153	1909.59	1994.00	1825.19	2759.81	1925.88	0	0	0	30.00	15.75	15.75
2941.93	10403	240.14	0.98	0.00	1909.4	1994.4	1824.4	2758.6	1925.6	143.06	6.91	427	2997.76	50.47	0.34	0.00	1.339	0.075	0.000	1646.41	1740.44	1552.38	2825.25	1925.94	0	0	0	11.91	15.95	30.00
3300.49	8486	263.26	1.01	80.00	1637.8	1725.1	1550.4	2825.1	1925.2	109.91	8.92	465	3326.36	18.61	0.00	3.80	1.236	0.000	0.195	1551.22	1637.81	1464.62	2826.25	3396.44	0	0	0	11.92	30.00	15.78
3371.01	9382	295.16	1.10	0.00	1547.8	1630.9	1464.6	2824.9	3395.8	104.00	8.52	479	3406.50	26.30	0.00	3.61	1.258	0.000	0.135	1422.81	1513.19	1332.44	2825.12	1924.62	0	0	0	12.02	30.00	15.81
3706.52	10919	329.56	1.26	-80.00	1414.8	1500.4	1329.1	2825.2	1924.1	78.59	8.40	544	3744.06	27.69	0.34	3.49	1.253	0.077	0.217	1281.28	1372.44	1190.12	2893.44	594.81	0	0	0	12.03	15.87	15.69
3747.78	5253	329.56	1.19	0.00	1280.2	1370.6	1189.7	2893.2	594.8	74.09	11.58	552	3754.30	0.00	0.30	3.21	0.000	0.204	0.099	1280.09	1370.69	1189.50	2857.69	1946.38	0	0	0	30.00	15.71	15.77
3935.55	10663	368.00	1.36	80.00	1277.1	1366.8	1187.5	2857.3	1945.3	56.34	8.21	590	3973.86	30.75	0.32	3.70	1.237	0.079	0.184	1124.28	1219.81	1028.75	2914.12	3395.62	0	0	0	11.92	15.88	15.66
4012.10	1156	368.00	1.31	0.00	1123.5	1216.3	1030.8	2914.0	3394.5	47.18	13.13	605	4018.62	0.00	0.00	3.57	0.000	0.000	0.119	1124.72	1217.50	1031.94	2912.75	1924.81	0	0	0	30.00	30.00	15.77
4197.84	8870	465.49	1.49	-80.00	1121.0	1212.6	1029.4	2914.6	1925.1	31.85	5.47	642	4281.20	74.16	0.00	3.47	1.229	0.000	0.199	727.72	832.06	623.38	2915.50	593.88	0	0	0	11.91	30.00	15.58
4289.94	11431	551.21	1.78	0.00	727.2	830.6	623.9	2914.9	593.6	26.72	6.01	660	4341.96	43.47	0.57	3.17	1.165	0.069	0.078	500.69	594.00	407.38	3017.81	1950.00	0	0	0	11.83	15.67	15.66
4481	end climb: SURFACE_DEPTH_REACHED
state	4481	begin surface coast
4491	end surface coast: CONTROL_FINISHED_OK
state	4491	begin surface