Glider dive log

AMOS Sep22 * SG243 * Dive index * Mission links * Dive 168 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 243 FIX_MISSING_TIMEOUT 7 C_ROLL_CLIMB 2348.7959 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 168 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 701.37 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 1 XPDR_REP 0

D_FLARE 3 FILEMGR 2 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 360 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_ABORT 1030 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 450 PROTOCOL 9 C_VBD 3245.1233 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 0 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 10 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 2 UPLOAD_DIVES_MAX 10 VBD_TIMEOUT 800 DEVICE3 -1

D_SAFE 500 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 4 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 45 VBD_MAXERRORS 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 120 T_GPS 3 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 160 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 2880 T_RSLEEP 3 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 240 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 10800 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY 0 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1767.4003 MINV_24V 0 NETWORK_DEVICE 1

D_OFFGRID 1000 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 12.975777 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 52.790905 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 99.098091 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.0275 PITCH_ADJ_DBAND 2 PRESSURE_YINT -165.79369 SEABIRD_T_J 4.3e-06

MASS 72763 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 200 COMPASS_USE 16388 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 2

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3890 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 180 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2390.0173 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 1000 NOCOMM_ACTION 129 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 2 N_DIVES 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 500 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 360 N_NOCOMM 0 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 180 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 52.790905 PHONE_SUPPLY 2 SM_CC 701.37

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 99.098091 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 7 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 12.975777 SURFACE_URGENCY_FORCE 0

CALL_TRIES 3 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 45 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 2880

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 243 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 120

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 16388 INT_PRESSURE_YINT -1.7 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1767.4003 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 160

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -165.79369 T_NO_W 240

C_ROLL_CLIMB 2348.7959 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2390.0173 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3245.1233 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 400 RAFOS_HIT_WINDOW 10800 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 700 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX 10

DBDW 0 LOITER_D_TOP 400 RAFOS_PEAK_OFFSET 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 1

DEEPGLIDERMB 0 LOITER_W_DBAND 2 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72763 ROLL_ADJ_DBAND 0.029999999 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 5 ROLL_ADJ_GAIN 1 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 2

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 800

DIVE 168 MISSION 2 ROLL_MIN 285 W_ADJ_DBAND 0

D_ABORT 1030 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 4 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 450 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 191022,131426,7235.955,-15629.748,3,1.4,6,11.9 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191022,131824,7235.995,-15629.776,3,1.5,5,11.9 MHEAD_RNG_PITCHd_Wd 185.4,13565,-17.6,-10.000,-21.24,2209,0.142

SPEED_LIMITS 0.173,0.257 D_GRID 360

TGT_NAME S1 IRON 1.000000,-0.009772,-0.102549,0.004843,1.036106,-0.133438,0.003124,-0.016487,0.935368,297.183411,-1107.106201,-912.221313

TGT_LATLONG 7229.000,-15637.000

Post-dive calculations and measurements:

NAV 1666188632,329.1,0,stop _10V_AH 14.64,0.000

FREEZE 0.36,-1.249,-1.412,2,1,0 FG_AHR_24Vo 99.429

FINISH 0.4,1.020838 FG_AHR_10Vo 52.823

SM_CCo 8000.16,101.17,1.362,0,501.0,606.1,395.8,673.11 MEM0 59964,1,0,0

SM_GC 1.95,101.17,13.36,0.05,1.362,0.077,0.208,501.0,606.1,395.8,202.1,2405.2,0,0,0,11.45,15.65,15.66 MEM1 65508,1,0,0

SUPER 0,0,0,0,0,0 MEM2 1012128,40,34060,79

IRIDIUM_FIX 7235.22,-15635.82,191022,105755 DATA_FILE_SIZE 12949,511

TCM_TEMP 2.26 CAP_FILE_SIZE 206466,0

SC_FREEKB 3828032 SDSIZE 3887104,3829472

RAFOS_CLK -11 SDFILEDIR 1120,1

RAFOS_FIX 7613.417969,-13716.727539,051022,161624,2,510,45.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.64 SOUNDSPEED 1465.0

TEMP 0.02 MAGCAL 1.000000,-0.002500,-0.110081,0.026154,1.045846,-0.046450,0.018077,-0.011246,0.997956,272.7,-1206.9,-945.0,24,0.1053,0

INTERNAL_PRESSURE 7.78539 GPS 191022,153301,7235.500,-15631.141,20,0.9,21,11.9

_24V_AH 14.63,78.913

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 861 1771 22335.49 nil 0 0 0.00

Pitch_motor 30 313 140.45 nil 0 0 0.00

Roll_motor 74 239 260.20 nil 0 0 0.00

Iridium 145 179 381.98 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.15 nil 0 0 0.00

Core 2361 5 176.98 SciCon 7881 4 560.16

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 5737 0 26.88

Compass 1016 5 74.44

RAFOS 684 40 400.96

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

7.39 16386 -145.99 -1.54 0.00 499.4 602.2 396.6 197.1 2357.4 0.00 0.00 0 79.78 67.46 0.00 0.00 0.005 0.000 0.000 1996.84 2030.81 1962.88 197.25 2355.88 0 0 0 15.74 30.00 30.00

80.22 18983 -145.99 -1.54 -80.00 2000.2 2036.1 1964.2 197.1 2355.5 3.65 -3.71 6 150.27 39.11 10.35 3.73 0.005 0.314 0.112 3842.44 3876.88 3808.00 1394.00 921.12 0 0 0 15.78 15.53 15.66

168.81 3205 -145.99 -1.38 0.00 3843.7 3878.8 3808.6 1393.9 921.2 30.67 -30.70 22 176.58 0.00 0.29 3.60 0.000 0.245 0.058 3843.44 3878.69 3808.19 1430.44 2410.50 0 0 0 30.00 15.61 15.71

563.88 128 -145.99 -1.34 0.00 3844.4 3880.2 3808.6 1430.8 2410.2 98.01 -15.00 36 565.75 0.00 0.00 0.00 0.000 0.000 0.000 3844.44 3880.19 3808.69 1430.06 2410.44 0 0 0 30.00 30.00 30.00

953.78 516 -145.99 -1.34 -80.00 3844.6 3880.4 3808.8 1431.0 2410.7 149.80 -13.07 49 962.06 0.00 0.00 3.84 0.000 0.000 0.111 3845.06 3880.56 3809.56 1430.94 922.19 0 0 0 30.00 30.00 15.87

1044.98 1156 -145.99 -1.30 0.11 3844.6 3880.1 3809.1 1431.1 922.4 162.11 -13.21 67 1052.60 0.00 0.00 3.55 0.000 0.000 0.057 3844.41 3879.88 3808.94 1430.94 2410.88 0 0 0 30.00 30.00 15.92

1431.21 548 -145.99 -1.30 -80.00 3844.3 3880.4 3808.3 1430.5 2410.8 200.31 -8.53 84 1439.27 0.00 0.00 3.80 0.000 0.000 0.112 3843.78 3879.38 3808.19 1430.88 922.06 0 0 0 30.00 30.00 15.93

1522.13 1060 -145.99 -1.30 -0.02 3844.6 3880.4 3808.8 1430.5 922.2 207.51 -7.78 102 1529.81 0.00 0.00 3.53 0.000 0.000 0.056 3844.47 3880.50 3808.44 1430.81 2409.75 0 0 0 30.00 30.00 15.97

1908.35 32 -145.99 -1.30 -0.02 3844.5 3880.4 3808.6 1430.9 2409.9 235.93 -7.52 119 1910.11 0.00 0.00 0.00 0.000 0.000 0.000 3844.47 3880.31 3808.62 1430.44 2409.75 0 0 0 30.00 30.00 30.00

2298.43 548 -145.99 -1.30 -80.00 3844.6 3880.4 3808.8 1430.7 2409.6 265.92 -7.94 132 2306.50 0.00 0.00 3.80 0.000 0.000 0.114 3845.81 3880.88 3810.75 1431.00 922.38 0 0 0 30.00 30.00 15.99

2325.10 1060 -145.99 -1.30 -0.10 3844.6 3880.1 3809.0 1430.8 922.9 268.22 -7.93 137 2333.06 0.00 0.00 3.52 0.000 0.000 0.057 3843.84 3880.19 3807.50 1430.94 2409.50 0 0 0 30.00 30.00 16.03

2711.70 292 -145.99 -1.30 80.00 3844.1 3880.0 3808.2 1431.1 2408.9 298.39 -8.05 154 2719.82 0.00 0.00 3.72 0.000 0.000 0.141 3845.19 3881.06 3809.31 1430.50 3854.25 0 0 0 30.00 30.00 15.93

2798.55 3205 -145.99 -1.26 -0.05 3844.0 3880.5 3807.6 1430.4 3855.0 307.22 -10.54 171 2806.90 0.00 0.25 3.44 0.000 0.212 0.032 3844.00 3880.69 3807.31 1462.31 2355.50 0 0 0 30.00 15.92 16.00

3185.71 160 -145.99 -1.31 -0.05 3844.4 3881.4 3807.4 1462.9 2352.5 335.46 -7.16 188 3187.52 0.00 0.00 0.00 0.000 0.000 0.000 3844.59 3881.12 3808.06 1462.50 2352.19 0 0 0 30.00 30.00 30.00

3545 end dive: TARGET_DEPTH_EXCEEDED

state 3546 begin apogee

3547.07 10243 0.00 -0.39 0.00 3844.2 3881.1 3807.2 1462.4 2319.9 360.62 -7.03 200 3691.99 129.54 1.53 0.09 1.772 0.173 0.240 3243.34 3328.12 3158.56 1674.94 2370.06 0 0 0 11.59 15.96 15.32

3693 end apogee: CONTROL_FINISHED_OK

state 3693 begin climb

3693.73 11271 145.99 1.54 0.00 3243.2 3328.1 3158.2 1674.6 2370.0 363.10 0.00 204 3852.63 137.25 3.33 0.09 1.670 0.127 0.128 2650.00 2774.75 2525.25 2140.12 2310.00 0 0 0 11.41 15.35 15.42

4216.35 16774 145.99 1.46 80.00 2637.8 2753.7 2522.0 2140.8 2310.2 292.95 14.56 246 4224.73 0.00 0.00 3.98 0.000 0.000 0.135 2636.28 2752.25 2520.31 2141.19 3809.44 0 0 0 30.00 30.00 15.59

4307.70 21639 145.99 1.32 0.08 2637.6 2753.0 2522.2 2141.1 3809.8 277.35 17.03 264 4317.08 0.00 0.46 3.53 0.000 0.205 0.035 2637.16 2752.25 2522.06 2082.56 2321.81 0 0 0 30.00 15.61 15.70

4690.60 16386 145.99 1.32 0.08 2635.6 2749.5 2521.7 2082.8 2318.2 232.95 11.17 280 4692.41 0.00 0.00 0.00 0.000 0.000 0.000 2635.47 2748.75 2522.19 2081.50 2318.38 0 0 0 30.00 30.00 30.00

5080.69 16646 145.99 1.32 80.00 2635.4 2749.0 2521.9 2082.7 2318.4 191.34 10.48 293 5089.19 0.00 0.00 3.90 0.000 0.000 0.134 2633.47 2748.38 2518.56 2082.50 3810.88 0 0 0 30.00 30.00 15.83

5122.15 17542 145.99 1.27 0.14 2635.2 2748.5 2521.9 2082.9 3810.2 186.70 11.10 301 5129.86 0.00 0.00 3.47 0.000 0.000 0.034 2634.56 2748.81 2520.31 2082.44 2320.69 0 0 0 30.00 30.00 15.90

5498.43 8486 205.11 1.34 80.00 2634.9 2748.2 2521.6 2082.7 2317.4 158.61 7.25 316 5566.35 54.21 0.00 3.98 1.567 0.000 0.136 2406.28 2533.44 2279.12 2082.06 3811.12 0 0 0 11.58 30.00 15.59

5589.26 9254 229.86 1.37 0.14 2405.4 2530.6 2280.3 2082.0 3811.2 151.47 8.85 333 5624.30 24.59 0.00 3.52 1.483 0.000 0.033 2306.66 2440.62 2172.69 2081.69 2317.31 0 0 0 11.46 30.00 15.69

5988.10 10663 299.04 1.49 80.00 2300.3 2430.1 2170.5 2082.2 2317.4 122.43 6.78 352 6066.27 63.55 0.32 4.03 1.501 0.090 0.137 2022.28 2163.50 1881.06 2134.00 3809.75 0 0 0 11.49 15.78 15.43

6129.10 1028 299.04 1.49 0.32 2020.0 2157.2 1882.7 2133.9 3809.4 108.25 11.60 379 6137.03 0.00 0.00 3.52 0.000 0.000 0.034 2019.50 2157.44 1881.56 2133.81 2326.88 0 0 0 30.00 30.00 15.60

6505.69 8742 339.42 1.54 -80.00 2015.5 2149.2 1881.7 2134.2 2322.9 75.57 8.12 394 6554.00 36.74 0.00 3.83 1.459 0.000 0.125 1859.06 1999.31 1718.81 2134.25 883.81 0 0 0 11.42 30.00 15.54

6561.89 9254 364.70 1.57 0.49 1858.6 1996.9 1720.2 2133.2 883.6 70.67 8.82 402 6597.01 24.80 0.00 3.61 1.394 0.000 0.055 1758.75 1897.00 1620.50 2133.12 2374.44 0 0 0 11.29 30.00 15.61

6975.82 10403 426.33 1.72 0.49 1749.8 1880.6 1618.9 2134.3 2374.5 38.52 7.13 424 7040.65 56.22 0.33 0.00 1.422 0.089 0.000 1506.00 1646.69 1365.31 2190.50 2374.19 0 0 0 11.41 15.76 30.00

7405.80 10403 565.06 1.99 0.49 1499.5 1633.8 1365.2 2191.4 2374.6 14.78 3.55 459 7546.56 126.96 0.37 0.00 1.371 0.088 0.000 942.50 1082.44 802.56 2253.25 2374.75 0 0 0 11.48 15.74 30.00

7770 end climb: SURFACE_DEPTH_REACHED

state 7770 begin surface coast

7860 end surface coast: CONTROL_FINISHED_OK

state 7861 begin surface

ID	243	FIX_MISSING_TIMEOUT	7	C_ROLL_CLIMB	2348.7959	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	168	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	701.37	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	1	XPDR_REP	0
D_FLARE	3	FILEMGR	2	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	360	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_ABORT	1030	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	450	PROTOCOL	9	C_VBD	3245.1233	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	0	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	10	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	2	UPLOAD_DIVES_MAX	10	VBD_TIMEOUT	800	DEVICE3	-1
D_SAFE	500	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	4	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	45	VBD_MAXERRORS	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	120	T_GPS	3	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	160	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	2880	T_RSLEEP	3	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	240	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	10800	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	0	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1767.4003	MINV_24V	0	NETWORK_DEVICE	1
D_OFFGRID	1000	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	12.975777	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	52.790905	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	99.098091	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.0275	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-165.79369	SEABIRD_T_J	4.3e-06
MASS	72763	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	200	COMPASS_USE	16388	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	2
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	285	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3890	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	180	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2390.0173	ALTIM_FREQUENCY	13

GPS1	191022,131426,7235.955,-15629.748,3,1.4,6,11.9	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191022,131824,7235.995,-15629.776,3,1.5,5,11.9	MHEAD_RNG_PITCHd_Wd	185.4,13565,-17.6,-10.000,-21.24,2209,0.142
SPEED_LIMITS	0.173,0.257	D_GRID	360
TGT_NAME	S1	IRON	1.000000,-0.009772,-0.102549,0.004843,1.036106,-0.133438,0.003124,-0.016487,0.935368,297.183411,-1107.106201,-912.221313
TGT_LATLONG	7229.000,-15637.000

NAV	1666188632,329.1,0,stop	_10V_AH	14.64,0.000
FREEZE	0.36,-1.249,-1.412,2,1,0	FG_AHR_24Vo	99.429
FINISH	0.4,1.020838	FG_AHR_10Vo	52.823
SM_CCo	8000.16,101.17,1.362,0,501.0,606.1,395.8,673.11	MEM0	59964,1,0,0
SM_GC	1.95,101.17,13.36,0.05,1.362,0.077,0.208,501.0,606.1,395.8,202.1,2405.2,0,0,0,11.45,15.65,15.66	MEM1	65508,1,0,0
SUPER	0,0,0,0,0,0	MEM2	1012128,40,34060,79
IRIDIUM_FIX	7235.22,-15635.82,191022,105755	DATA_FILE_SIZE	12949,511
TCM_TEMP	2.26	CAP_FILE_SIZE	206466,0
SC_FREEKB	3828032	SDSIZE	3887104,3829472
RAFOS_CLK	-11	SDFILEDIR	1120,1
RAFOS_FIX	7613.417969,-13716.727539,051022,161624,2,510,45.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.64	SOUNDSPEED	1465.0
TEMP	0.02	MAGCAL	1.000000,-0.002500,-0.110081,0.026154,1.045846,-0.046450,0.018077,-0.011246,0.997956,272.7,-1206.9,-945.0,24,0.1053,0
INTERNAL_PRESSURE	7.78539	GPS	191022,153301,7235.500,-15631.141,20,0.9,21,11.9
_24V_AH	14.63,78.913

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	861	1771	22335.49	nil	0	0	0.00
Pitch_motor	30	313	140.45	nil	0	0	0.00
Roll_motor	74	239	260.20	nil	0	0	0.00
Iridium	145	179	381.98	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.15	nil	0	0	0.00
Core	2361	5	176.98	SciCon	7881	4	560.16
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	5737	0	26.88
Compass	1016	5	74.44
RAFOS	684	40	400.96
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
7.39	16386	-145.99	-1.54	0.00	499.4	602.2	396.6	197.1	2357.4	0.00	0.00	0	79.78	67.46	0.00	0.00	0.005	0.000	0.000	1996.84	2030.81	1962.88	197.25	2355.88	0	0	0	15.74	30.00	30.00
80.22	18983	-145.99	-1.54	-80.00	2000.2	2036.1	1964.2	197.1	2355.5	3.65	-3.71	6	150.27	39.11	10.35	3.73	0.005	0.314	0.112	3842.44	3876.88	3808.00	1394.00	921.12	0	0	0	15.78	15.53	15.66
168.81	3205	-145.99	-1.38	0.00	3843.7	3878.8	3808.6	1393.9	921.2	30.67	-30.70	22	176.58	0.00	0.29	3.60	0.000	0.245	0.058	3843.44	3878.69	3808.19	1430.44	2410.50	0	0	0	30.00	15.61	15.71
563.88	128	-145.99	-1.34	0.00	3844.4	3880.2	3808.6	1430.8	2410.2	98.01	-15.00	36	565.75	0.00	0.00	0.00	0.000	0.000	0.000	3844.44	3880.19	3808.69	1430.06	2410.44	0	0	0	30.00	30.00	30.00
953.78	516	-145.99	-1.34	-80.00	3844.6	3880.4	3808.8	1431.0	2410.7	149.80	-13.07	49	962.06	0.00	0.00	3.84	0.000	0.000	0.111	3845.06	3880.56	3809.56	1430.94	922.19	0	0	0	30.00	30.00	15.87
1044.98	1156	-145.99	-1.30	0.11	3844.6	3880.1	3809.1	1431.1	922.4	162.11	-13.21	67	1052.60	0.00	0.00	3.55	0.000	0.000	0.057	3844.41	3879.88	3808.94	1430.94	2410.88	0	0	0	30.00	30.00	15.92
1431.21	548	-145.99	-1.30	-80.00	3844.3	3880.4	3808.3	1430.5	2410.8	200.31	-8.53	84	1439.27	0.00	0.00	3.80	0.000	0.000	0.112	3843.78	3879.38	3808.19	1430.88	922.06	0	0	0	30.00	30.00	15.93
1522.13	1060	-145.99	-1.30	-0.02	3844.6	3880.4	3808.8	1430.5	922.2	207.51	-7.78	102	1529.81	0.00	0.00	3.53	0.000	0.000	0.056	3844.47	3880.50	3808.44	1430.81	2409.75	0	0	0	30.00	30.00	15.97
1908.35	32	-145.99	-1.30	-0.02	3844.5	3880.4	3808.6	1430.9	2409.9	235.93	-7.52	119	1910.11	0.00	0.00	0.00	0.000	0.000	0.000	3844.47	3880.31	3808.62	1430.44	2409.75	0	0	0	30.00	30.00	30.00
2298.43	548	-145.99	-1.30	-80.00	3844.6	3880.4	3808.8	1430.7	2409.6	265.92	-7.94	132	2306.50	0.00	0.00	3.80	0.000	0.000	0.114	3845.81	3880.88	3810.75	1431.00	922.38	0	0	0	30.00	30.00	15.99
2325.10	1060	-145.99	-1.30	-0.10	3844.6	3880.1	3809.0	1430.8	922.9	268.22	-7.93	137	2333.06	0.00	0.00	3.52	0.000	0.000	0.057	3843.84	3880.19	3807.50	1430.94	2409.50	0	0	0	30.00	30.00	16.03
2711.70	292	-145.99	-1.30	80.00	3844.1	3880.0	3808.2	1431.1	2408.9	298.39	-8.05	154	2719.82	0.00	0.00	3.72	0.000	0.000	0.141	3845.19	3881.06	3809.31	1430.50	3854.25	0	0	0	30.00	30.00	15.93
2798.55	3205	-145.99	-1.26	-0.05	3844.0	3880.5	3807.6	1430.4	3855.0	307.22	-10.54	171	2806.90	0.00	0.25	3.44	0.000	0.212	0.032	3844.00	3880.69	3807.31	1462.31	2355.50	0	0	0	30.00	15.92	16.00
3185.71	160	-145.99	-1.31	-0.05	3844.4	3881.4	3807.4	1462.9	2352.5	335.46	-7.16	188	3187.52	0.00	0.00	0.00	0.000	0.000	0.000	3844.59	3881.12	3808.06	1462.50	2352.19	0	0	0	30.00	30.00	30.00
3545	end dive: TARGET_DEPTH_EXCEEDED
state	3546	begin apogee
3547.07	10243	0.00	-0.39	0.00	3844.2	3881.1	3807.2	1462.4	2319.9	360.62	-7.03	200	3691.99	129.54	1.53	0.09	1.772	0.173	0.240	3243.34	3328.12	3158.56	1674.94	2370.06	0	0	0	11.59	15.96	15.32
3693	end apogee: CONTROL_FINISHED_OK
state	3693	begin climb
3693.73	11271	145.99	1.54	0.00	3243.2	3328.1	3158.2	1674.6	2370.0	363.10	0.00	204	3852.63	137.25	3.33	0.09	1.670	0.127	0.128	2650.00	2774.75	2525.25	2140.12	2310.00	0	0	0	11.41	15.35	15.42
4216.35	16774	145.99	1.46	80.00	2637.8	2753.7	2522.0	2140.8	2310.2	292.95	14.56	246	4224.73	0.00	0.00	3.98	0.000	0.000	0.135	2636.28	2752.25	2520.31	2141.19	3809.44	0	0	0	30.00	30.00	15.59
4307.70	21639	145.99	1.32	0.08	2637.6	2753.0	2522.2	2141.1	3809.8	277.35	17.03	264	4317.08	0.00	0.46	3.53	0.000	0.205	0.035	2637.16	2752.25	2522.06	2082.56	2321.81	0	0	0	30.00	15.61	15.70
4690.60	16386	145.99	1.32	0.08	2635.6	2749.5	2521.7	2082.8	2318.2	232.95	11.17	280	4692.41	0.00	0.00	0.00	0.000	0.000	0.000	2635.47	2748.75	2522.19	2081.50	2318.38	0	0	0	30.00	30.00	30.00
5080.69	16646	145.99	1.32	80.00	2635.4	2749.0	2521.9	2082.7	2318.4	191.34	10.48	293	5089.19	0.00	0.00	3.90	0.000	0.000	0.134	2633.47	2748.38	2518.56	2082.50	3810.88	0	0	0	30.00	30.00	15.83
5122.15	17542	145.99	1.27	0.14	2635.2	2748.5	2521.9	2082.9	3810.2	186.70	11.10	301	5129.86	0.00	0.00	3.47	0.000	0.000	0.034	2634.56	2748.81	2520.31	2082.44	2320.69	0	0	0	30.00	30.00	15.90
5498.43	8486	205.11	1.34	80.00	2634.9	2748.2	2521.6	2082.7	2317.4	158.61	7.25	316	5566.35	54.21	0.00	3.98	1.567	0.000	0.136	2406.28	2533.44	2279.12	2082.06	3811.12	0	0	0	11.58	30.00	15.59
5589.26	9254	229.86	1.37	0.14	2405.4	2530.6	2280.3	2082.0	3811.2	151.47	8.85	333	5624.30	24.59	0.00	3.52	1.483	0.000	0.033	2306.66	2440.62	2172.69	2081.69	2317.31	0	0	0	11.46	30.00	15.69
5988.10	10663	299.04	1.49	80.00	2300.3	2430.1	2170.5	2082.2	2317.4	122.43	6.78	352	6066.27	63.55	0.32	4.03	1.501	0.090	0.137	2022.28	2163.50	1881.06	2134.00	3809.75	0	0	0	11.49	15.78	15.43
6129.10	1028	299.04	1.49	0.32	2020.0	2157.2	1882.7	2133.9	3809.4	108.25	11.60	379	6137.03	0.00	0.00	3.52	0.000	0.000	0.034	2019.50	2157.44	1881.56	2133.81	2326.88	0	0	0	30.00	30.00	15.60
6505.69	8742	339.42	1.54	-80.00	2015.5	2149.2	1881.7	2134.2	2322.9	75.57	8.12	394	6554.00	36.74	0.00	3.83	1.459	0.000	0.125	1859.06	1999.31	1718.81	2134.25	883.81	0	0	0	11.42	30.00	15.54
6561.89	9254	364.70	1.57	0.49	1858.6	1996.9	1720.2	2133.2	883.6	70.67	8.82	402	6597.01	24.80	0.00	3.61	1.394	0.000	0.055	1758.75	1897.00	1620.50	2133.12	2374.44	0	0	0	11.29	30.00	15.61
6975.82	10403	426.33	1.72	0.49	1749.8	1880.6	1618.9	2134.3	2374.5	38.52	7.13	424	7040.65	56.22	0.33	0.00	1.422	0.089	0.000	1506.00	1646.69	1365.31	2190.50	2374.19	0	0	0	11.41	15.76	30.00
7405.80	10403	565.06	1.99	0.49	1499.5	1633.8	1365.2	2191.4	2374.6	14.78	3.55	459	7546.56	126.96	0.37	0.00	1.371	0.088	0.000	942.50	1082.44	802.56	2253.25	2374.75	0	0	0	11.48	15.74	30.00
7770	end climb: SURFACE_DEPTH_REACHED
state	7770	begin surface coast
7860	end surface coast: CONTROL_FINISHED_OK
state	7861	begin surface