Glider dive log

AMOS Aug23 * SG242 * Dive index * Mission links * Dive 201 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 9 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 0

DIVE 201 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 0

N_DIVES 0 SM_CC 699.10498 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -3.2

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 300 COMM_SEQ 7 C_VBD 3350 MOTHERBOARD 6

D_ABORT 450 PROTOCOL 9 VBD_DBAND 2 DEVICE1 120

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 540 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 3 UNCOM_BLEED 400 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 7

SURFACE_URGENCY 6 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 6 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 12 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 100 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 200 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 120 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 220 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3610 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 1700 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 56

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 13.240061 FG_AHR_10V 65.732826 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 107.48268 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.0099999998 PRESSURE_YINT -14.5 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.0014504 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72651 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

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 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 195 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3800 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2100 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1997 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 XPDR_VALID 4

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 129 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 0 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_TGT 300 N_GPS 100440 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 0 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 65.732826 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 107.48268 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 6

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 12

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 13.240061 SURFACE_URGENCY_TRY 6

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3610 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 20 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 220 T_BOOST 0

COMM_SEQ 7 ID 242 PITCH_TIMEOUT 40 T_DIVE 100

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -3.2 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1700 LOGGERDEVICE1 7 PRESSURE_DEVICE 56 T_MISSION 200

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.0014504 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -14.5 T_RSLEEP 2

C_ROLL_CLIMB 1997 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2100 LOGGERS 0 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3350 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72651 RHO 1.0275 VBD_DBAND 2

DEVICE1 120 MAXI_10V 5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 3800 VBD_TIMEOUT 540

DEVICE6 -1 MISSION 9 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 201 MOTHERBOARD 6 ROLL_MIN 195 XPDR_DEVICE -1

D_ABORT 450 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 3 SEABIRD_C_G -10

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 021023,081619,7337.000,-15828.198,3,1.4,4,10.2 TGT_RADIUS 5000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021023,082254,7337.029,-15828.341,3,1.4,6,10.2 MHEAD_RNG_PITCHd_Wd 0.8,24988,-17.6,-10.000,-21.24,2209,35.789

SPEED_LIMITS 0.173,0.257 D_GRID 300

TGT_NAME LISTEN IRON 1.000000,-0.001727,-0.034431,0.009994,1.030148,-0.017297,0.022882,-0.068505,0.919658,753.895874,-968.919983,-670.083679

TGT_LATLONG 7350.000,-15815.000 OSC 8000225

Post-dive calculations and measurements:

NAV 1696242038,1.7,0,stop FG_AHR_10Vo 65.764

SM_CCo 6873.96,51.77,1.158,0,501.1,440.8,561.4,698.84 MEM0 59796,1,0,0

FINISH1 1.9,1.0211,441 MEM1 65508,1,0,0

FINISH2 2.6 MEM2 1026756,23,19952,70

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 35435,800

IRIDIUM_FIX 7336.65,-15833.14,021023,081055 CAP_FILE_SIZE 625264,0

TCM_TEMP 4.17 SDSIZE 3887104,3796608

RAFOS_CLK 0 SDFILEDIR 1450,202

RAFOS_FIX 7642.869629,-14909.923828,300923,080827,2,510,19.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 50.99 SOUNDSPEED 1465.0

TEMP 1.24 CURRENT 28.340, 22.5,1

INTERNAL_PRESSURE 7.76246 IMPLIED_C_PITCH 1685,12.32,439,0.0,0.00

_24V_AH 14.73,131.973 IMPLIED_C_VBD 3392,67.805908,435,0

_10V_AH 15.00,0.000 GPS 021023,082254,7337.029,-15828.341,3,1.4,6,10.2

FG_AHR_24Vo 107.756

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 885 1589 20728.18 legato 4112 20 1211.49

Pitch_motor 18 250 69.49 nil 0 0 0.00

Roll_motor 70 194 203.40 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 15 15 3.46 nil 0 0 0.00

Core 5500 5 422.43 SciCon 0 0 0.00

Fast 4 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1650 0 7.92

Compass 720 5 54.07

RAFOS 1295 40 777.52

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

4.27 16386 -145.99 -1.51 0.00 474.8 420.2 529.4 200.3 2051.2 0.00 0.00 0 115.78 101.93 0.00 0.00 0.005 0.000 0.000 2199.62 2169.38 2229.88 200.44 2050.19 0 0 0 15.91 30.00 30.00

116.30 18983 -145.99 -1.51 -80.00 2203.4 2173.4 2233.3 199.8 2049.7 3.17 -3.25 20 184.56 40.12 8.85 3.82 0.005 0.250 0.111 3944.19 3924.94 3963.44 1333.50 634.75 0 0 0 15.91 15.36 15.66

186.98 1156 -145.99 -1.42 0.00 3946.2 3925.8 3966.6 1333.3 634.6 22.55 -21.96 32 195.01 0.00 0.00 3.49 0.000 0.000 0.038 3945.97 3925.62 3966.31 1333.44 2124.31 0 0 0 30.00 30.00 15.73

377.42 2693 -145.99 -1.41 -80.00 3947.3 3925.8 3968.9 1333.6 2124.8 48.27 -11.67 70 386.20 0.00 0.19 4.01 0.000 0.164 0.105 3948.06 3927.56 3968.56 1362.81 633.19 0 0 0 30.00 15.59 15.66

621.25 1156 -145.99 -1.39 0.00 3947.7 3925.6 3969.8 1362.6 632.9 77.62 -11.83 105 637.68 0.00 0.00 3.45 0.000 0.000 0.039 3948.22 3926.25 3970.19 1362.81 2124.00 0 0 0 30.00 30.00 15.74

1007.53 260 -145.99 -1.39 80.00 3947.6 3925.6 3969.6 1362.9 2123.9 117.55 -10.34 144 1024.11 0.00 0.00 3.62 0.000 0.000 0.115 3947.47 3925.44 3969.50 1362.62 3566.94 0 0 0 30.00 30.00 15.70

1083.66 1156 -145.99 -1.37 0.00 3947.7 3925.9 3969.4 1362.9 3567.4 126.03 -11.42 155 1098.34 0.00 0.00 3.51 0.000 0.000 0.038 3947.38 3925.31 3969.44 1362.94 2070.88 0 0 0 30.00 30.00 15.76

1464.56 292 -145.99 -1.37 80.00 3947.7 3925.9 3969.5 1362.9 2071.1 165.29 -9.83 192 1481.20 0.00 0.00 3.78 0.000 0.000 0.113 3947.69 3925.69 3969.69 1362.88 3564.12 0 0 0 30.00 30.00 15.69

1569.19 1028 -145.99 -1.37 0.00 3947.7 3925.4 3969.9 1362.6 3565.0 176.84 -11.25 207 1583.92 0.00 0.00 3.49 0.000 0.000 0.039 3947.59 3925.38 3969.81 1362.88 2073.56 0 0 0 30.00 30.00 15.81

1954.05 420 -145.99 -1.40 80.00 3947.5 3925.4 3969.6 1362.7 2073.2 211.83 -7.58 245 1970.70 0.00 0.00 3.79 0.000 0.000 0.114 3947.38 3925.44 3969.31 1362.25 3567.44 0 0 0 30.00 30.00 15.70

2071.55 1188 -145.99 -1.42 0.00 3947.2 3924.9 3969.4 1363.0 3567.2 222.28 -8.86 261 2088.05 0.00 0.00 3.51 0.000 0.000 0.041 3949.84 3927.69 3972.00 1362.25 2073.25 0 0 0 30.00 30.00 15.77

2458.20 160 -145.99 -1.45 0.00 3946.5 3923.6 3969.5 1362.8 2073.1 248.26 -6.68 300 2467.72 0.00 0.00 0.00 0.000 0.000 0.000 3946.66 3923.81 3969.50 1362.44 2073.94 0 0 0 30.00 30.00 30.00

2849.20 420 -145.99 -1.49 80.00 3945.8 3922.0 3969.6 1363.0 2073.6 273.52 -6.20 315 2858.47 0.00 0.00 3.78 0.000 0.000 0.116 3946.78 3922.94 3970.62 1363.12 3565.88 0 0 0 30.00 30.00 15.69

2994.34 5285 -145.99 -1.52 0.00 3945.5 3921.6 3969.4 1362.6 3565.3 283.23 -6.86 341 3002.96 0.00 0.25 3.49 0.000 0.073 0.040 3945.22 3921.00 3969.44 1319.25 2072.06 0 0 0 30.00 15.75 15.76

3227 end dive: TARGET_DEPTH_EXCEEDED

state 3227 begin apogee

3229.69 10243 0.00 -0.38 0.00 3944.8 3920.3 3969.4 1319.2 1965.2 300.97 -7.46 351 3359.33 113.68 2.01 0.10 1.589 0.117 0.195 3352.53 3268.75 3436.31 1609.75 2032.88 0 0 0 9.46 15.62 15.49

3359 end apogee: CONTROL_FINISHED_OK

state 3360 begin climb

3360.47 10759 145.99 1.51 -80.00 3350.1 3266.7 3433.5 1610.9 2033.1 302.33 0.00 355 3509.75 116.22 2.94 4.16 1.532 0.065 0.122 2754.84 2652.38 2857.31 2078.00 531.38 0 0 0 11.20 15.51 15.24

3544.87 5253 145.99 1.41 0.00 2748.7 2649.2 2848.2 2078.8 531.4 281.34 14.09 380 3554.45 0.00 0.35 3.54 0.000 0.187 0.040 2749.06 2650.38 2847.75 2035.75 2019.25 0 0 0 30.00 15.32 15.46

3920.40 16514 145.99 1.37 0.00 2742.3 2642.4 2842.2 2035.9 2019.4 231.49 12.44 406 3929.91 0.00 0.00 0.00 0.000 0.000 0.000 2742.78 2643.44 2842.12 2035.62 2019.38 0 0 0 30.00 30.00 30.00

4291.02 8870 226.35 1.44 -80.00 2741.2 2642.0 2840.3 2035.7 2019.4 200.02 6.26 443 4369.63 63.85 0.00 4.09 1.448 0.000 0.120 2425.47 2325.06 2525.88 2036.00 532.44 0 0 0 10.50 30.00 15.52

4457.85 17542 226.35 1.39 0.00 2418.1 2320.8 2515.4 2035.3 532.4 184.97 11.07 466 4472.70 0.00 0.00 3.51 0.000 0.000 0.039 2417.47 2319.62 2515.31 2035.94 2023.44 0 0 0 30.00 30.00 15.65

4842.69 8226 268.40 1.45 0.00 2413.2 2315.1 2511.3 2035.6 2023.4 151.20 8.04 504 4888.48 32.99 0.00 0.00 1.386 0.000 0.000 2258.53 2155.56 2361.50 2035.38 2023.44 0 0 0 10.40 30.00 30.00

5258.47 10791 307.89 1.49 -80.00 2248.9 2149.0 2348.9 2036.0 2023.4 116.75 8.16 546 5307.34 32.06 0.21 4.06 1.353 0.060 0.122 2096.12 1990.94 2201.31 2090.75 531.38 0 0 0 10.68 15.75 15.63

5395.61 5253 307.89 1.44 0.00 2089.6 1988.1 2191.1 2090.6 531.1 100.52 13.27 565 5410.81 0.00 0.36 3.48 0.000 0.170 0.040 2088.88 1986.81 2190.94 2044.25 2022.94 0 0 0 30.00 15.58 15.68

5781.30 10403 350.72 1.52 0.00 2085.0 1982.6 2187.5 2043.7 2023.7 67.34 8.01 602 5824.29 35.21 0.19 0.00 1.315 0.066 0.000 1921.09 1812.31 2029.88 2096.88 2023.06 0 0 0 10.60 15.70 30.00

6185.53 8354 423.85 1.63 0.00 1908.9 1803.5 2014.3 2097.3 2023.3 33.14 6.60 663 6250.73 58.73 0.00 0.00 1.274 0.000 0.000 1620.78 1514.62 1726.94 2096.75 2022.94 0 0 0 10.28 30.00 30.00

6433.24 10403 549.16 1.83 0.00 1611.8 1510.9 1712.8 2097.7 2023.2 20.99 4.17 712 6546.60 102.22 0.28 0.00 1.233 0.060 0.000 1111.00 1027.62 1194.38 2157.56 2023.25 0 0 0 10.89 15.58 30.00

6729.10 10663 757.22 2.17 80.00 1104.4 1026.5 1182.2 2157.0 2023.7 16.11 0.32 770 6815.79 78.60 0.41 0.00 1.212 0.056 0.000 734.78 654.88 814.69 2241.69 2024.25 0 0 0 10.83 15.56 30.00

6816 end climb: NO_VERTICAL_VELOCITY

state 6816 begin subsurface finish

7021.42 31143 440.89 0.54 80.00 490.8 431.4 550.2 2240.7 1970.9 1.89 2.47 786 7099.80 58.08 2.83 3.82 0.005 0.106 0.111 1556.03 1502.00 1610.06 1823.12 3460.00 0 0 0 15.66 15.46 15.52

7100 end subsurface finish: CONTROL_FINISHED_OK

state 7100 begin surface

ID	242	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	9	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	0
DIVE	201	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	0
N_DIVES	0	SM_CC	699.10498	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-3.2
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	300	COMM_SEQ	7	C_VBD	3350	MOTHERBOARD	6
D_ABORT	450	PROTOCOL	9	VBD_DBAND	2	DEVICE1	120
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	540	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	3	UNCOM_BLEED	400	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	7
SURFACE_URGENCY	6	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	6	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	12	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	100	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	200	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	120	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	220	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3610	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	1700	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	56
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	13.240061	FG_AHR_10V	65.732826	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	107.48268	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.0099999998	PRESSURE_YINT	-14.5	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.0014504	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72651	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
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	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	195	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3800	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2100	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1997	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	XPDR_VALID	4

GPS1	021023,081619,7337.000,-15828.198,3,1.4,4,10.2	TGT_RADIUS	5000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021023,082254,7337.029,-15828.341,3,1.4,6,10.2	MHEAD_RNG_PITCHd_Wd	0.8,24988,-17.6,-10.000,-21.24,2209,35.789
SPEED_LIMITS	0.173,0.257	D_GRID	300
TGT_NAME	LISTEN	IRON	1.000000,-0.001727,-0.034431,0.009994,1.030148,-0.017297,0.022882,-0.068505,0.919658,753.895874,-968.919983,-670.083679
TGT_LATLONG	7350.000,-15815.000	OSC	8000225

NAV	1696242038,1.7,0,stop	FG_AHR_10Vo	65.764
SM_CCo	6873.96,51.77,1.158,0,501.1,440.8,561.4,698.84	MEM0	59796,1,0,0
FINISH1	1.9,1.0211,441	MEM1	65508,1,0,0
FINISH2	2.6	MEM2	1026756,23,19952,70
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	35435,800
IRIDIUM_FIX	7336.65,-15833.14,021023,081055	CAP_FILE_SIZE	625264,0
TCM_TEMP	4.17	SDSIZE	3887104,3796608
RAFOS_CLK	0	SDFILEDIR	1450,202
RAFOS_FIX	7642.869629,-14909.923828,300923,080827,2,510,19.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.99	SOUNDSPEED	1465.0
TEMP	1.24	CURRENT	28.340, 22.5,1
INTERNAL_PRESSURE	7.76246	IMPLIED_C_PITCH	1685,12.32,439,0.0,0.00
_24V_AH	14.73,131.973	IMPLIED_C_VBD	3392,67.805908,435,0
_10V_AH	15.00,0.000	GPS	021023,082254,7337.029,-15828.341,3,1.4,6,10.2
FG_AHR_24Vo	107.756

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	885	1589	20728.18	legato	4112	20	1211.49
Pitch_motor	18	250	69.49	nil	0	0	0.00
Roll_motor	70	194	203.40	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	15	15	3.46	nil	0	0	0.00
Core	5500	5	422.43	SciCon	0	0	0.00
Fast	4	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1650	0	7.92
Compass	720	5	54.07
RAFOS	1295	40	777.52
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
4.27	16386	-145.99	-1.51	0.00	474.8	420.2	529.4	200.3	2051.2	0.00	0.00	0	115.78	101.93	0.00	0.00	0.005	0.000	0.000	2199.62	2169.38	2229.88	200.44	2050.19	0	0	0	15.91	30.00	30.00
116.30	18983	-145.99	-1.51	-80.00	2203.4	2173.4	2233.3	199.8	2049.7	3.17	-3.25	20	184.56	40.12	8.85	3.82	0.005	0.250	0.111	3944.19	3924.94	3963.44	1333.50	634.75	0	0	0	15.91	15.36	15.66
186.98	1156	-145.99	-1.42	0.00	3946.2	3925.8	3966.6	1333.3	634.6	22.55	-21.96	32	195.01	0.00	0.00	3.49	0.000	0.000	0.038	3945.97	3925.62	3966.31	1333.44	2124.31	0	0	0	30.00	30.00	15.73
377.42	2693	-145.99	-1.41	-80.00	3947.3	3925.8	3968.9	1333.6	2124.8	48.27	-11.67	70	386.20	0.00	0.19	4.01	0.000	0.164	0.105	3948.06	3927.56	3968.56	1362.81	633.19	0	0	0	30.00	15.59	15.66
621.25	1156	-145.99	-1.39	0.00	3947.7	3925.6	3969.8	1362.6	632.9	77.62	-11.83	105	637.68	0.00	0.00	3.45	0.000	0.000	0.039	3948.22	3926.25	3970.19	1362.81	2124.00	0	0	0	30.00	30.00	15.74
1007.53	260	-145.99	-1.39	80.00	3947.6	3925.6	3969.6	1362.9	2123.9	117.55	-10.34	144	1024.11	0.00	0.00	3.62	0.000	0.000	0.115	3947.47	3925.44	3969.50	1362.62	3566.94	0	0	0	30.00	30.00	15.70
1083.66	1156	-145.99	-1.37	0.00	3947.7	3925.9	3969.4	1362.9	3567.4	126.03	-11.42	155	1098.34	0.00	0.00	3.51	0.000	0.000	0.038	3947.38	3925.31	3969.44	1362.94	2070.88	0	0	0	30.00	30.00	15.76
1464.56	292	-145.99	-1.37	80.00	3947.7	3925.9	3969.5	1362.9	2071.1	165.29	-9.83	192	1481.20	0.00	0.00	3.78	0.000	0.000	0.113	3947.69	3925.69	3969.69	1362.88	3564.12	0	0	0	30.00	30.00	15.69
1569.19	1028	-145.99	-1.37	0.00	3947.7	3925.4	3969.9	1362.6	3565.0	176.84	-11.25	207	1583.92	0.00	0.00	3.49	0.000	0.000	0.039	3947.59	3925.38	3969.81	1362.88	2073.56	0	0	0	30.00	30.00	15.81
1954.05	420	-145.99	-1.40	80.00	3947.5	3925.4	3969.6	1362.7	2073.2	211.83	-7.58	245	1970.70	0.00	0.00	3.79	0.000	0.000	0.114	3947.38	3925.44	3969.31	1362.25	3567.44	0	0	0	30.00	30.00	15.70
2071.55	1188	-145.99	-1.42	0.00	3947.2	3924.9	3969.4	1363.0	3567.2	222.28	-8.86	261	2088.05	0.00	0.00	3.51	0.000	0.000	0.041	3949.84	3927.69	3972.00	1362.25	2073.25	0	0	0	30.00	30.00	15.77
2458.20	160	-145.99	-1.45	0.00	3946.5	3923.6	3969.5	1362.8	2073.1	248.26	-6.68	300	2467.72	0.00	0.00	0.00	0.000	0.000	0.000	3946.66	3923.81	3969.50	1362.44	2073.94	0	0	0	30.00	30.00	30.00
2849.20	420	-145.99	-1.49	80.00	3945.8	3922.0	3969.6	1363.0	2073.6	273.52	-6.20	315	2858.47	0.00	0.00	3.78	0.000	0.000	0.116	3946.78	3922.94	3970.62	1363.12	3565.88	0	0	0	30.00	30.00	15.69
2994.34	5285	-145.99	-1.52	0.00	3945.5	3921.6	3969.4	1362.6	3565.3	283.23	-6.86	341	3002.96	0.00	0.25	3.49	0.000	0.073	0.040	3945.22	3921.00	3969.44	1319.25	2072.06	0	0	0	30.00	15.75	15.76
3227	end dive: TARGET_DEPTH_EXCEEDED
state	3227	begin apogee
3229.69	10243	0.00	-0.38	0.00	3944.8	3920.3	3969.4	1319.2	1965.2	300.97	-7.46	351	3359.33	113.68	2.01	0.10	1.589	0.117	0.195	3352.53	3268.75	3436.31	1609.75	2032.88	0	0	0	9.46	15.62	15.49
3359	end apogee: CONTROL_FINISHED_OK
state	3360	begin climb
3360.47	10759	145.99	1.51	-80.00	3350.1	3266.7	3433.5	1610.9	2033.1	302.33	0.00	355	3509.75	116.22	2.94	4.16	1.532	0.065	0.122	2754.84	2652.38	2857.31	2078.00	531.38	0	0	0	11.20	15.51	15.24
3544.87	5253	145.99	1.41	0.00	2748.7	2649.2	2848.2	2078.8	531.4	281.34	14.09	380	3554.45	0.00	0.35	3.54	0.000	0.187	0.040	2749.06	2650.38	2847.75	2035.75	2019.25	0	0	0	30.00	15.32	15.46
3920.40	16514	145.99	1.37	0.00	2742.3	2642.4	2842.2	2035.9	2019.4	231.49	12.44	406	3929.91	0.00	0.00	0.00	0.000	0.000	0.000	2742.78	2643.44	2842.12	2035.62	2019.38	0	0	0	30.00	30.00	30.00
4291.02	8870	226.35	1.44	-80.00	2741.2	2642.0	2840.3	2035.7	2019.4	200.02	6.26	443	4369.63	63.85	0.00	4.09	1.448	0.000	0.120	2425.47	2325.06	2525.88	2036.00	532.44	0	0	0	10.50	30.00	15.52
4457.85	17542	226.35	1.39	0.00	2418.1	2320.8	2515.4	2035.3	532.4	184.97	11.07	466	4472.70	0.00	0.00	3.51	0.000	0.000	0.039	2417.47	2319.62	2515.31	2035.94	2023.44	0	0	0	30.00	30.00	15.65
4842.69	8226	268.40	1.45	0.00	2413.2	2315.1	2511.3	2035.6	2023.4	151.20	8.04	504	4888.48	32.99	0.00	0.00	1.386	0.000	0.000	2258.53	2155.56	2361.50	2035.38	2023.44	0	0	0	10.40	30.00	30.00
5258.47	10791	307.89	1.49	-80.00	2248.9	2149.0	2348.9	2036.0	2023.4	116.75	8.16	546	5307.34	32.06	0.21	4.06	1.353	0.060	0.122	2096.12	1990.94	2201.31	2090.75	531.38	0	0	0	10.68	15.75	15.63
5395.61	5253	307.89	1.44	0.00	2089.6	1988.1	2191.1	2090.6	531.1	100.52	13.27	565	5410.81	0.00	0.36	3.48	0.000	0.170	0.040	2088.88	1986.81	2190.94	2044.25	2022.94	0	0	0	30.00	15.58	15.68
5781.30	10403	350.72	1.52	0.00	2085.0	1982.6	2187.5	2043.7	2023.7	67.34	8.01	602	5824.29	35.21	0.19	0.00	1.315	0.066	0.000	1921.09	1812.31	2029.88	2096.88	2023.06	0	0	0	10.60	15.70	30.00
6185.53	8354	423.85	1.63	0.00	1908.9	1803.5	2014.3	2097.3	2023.3	33.14	6.60	663	6250.73	58.73	0.00	0.00	1.274	0.000	0.000	1620.78	1514.62	1726.94	2096.75	2022.94	0	0	0	10.28	30.00	30.00
6433.24	10403	549.16	1.83	0.00	1611.8	1510.9	1712.8	2097.7	2023.2	20.99	4.17	712	6546.60	102.22	0.28	0.00	1.233	0.060	0.000	1111.00	1027.62	1194.38	2157.56	2023.25	0	0	0	10.89	15.58	30.00
6729.10	10663	757.22	2.17	80.00	1104.4	1026.5	1182.2	2157.0	2023.7	16.11	0.32	770	6815.79	78.60	0.41	0.00	1.212	0.056	0.000	734.78	654.88	814.69	2241.69	2024.25	0	0	0	10.83	15.56	30.00
6816	end climb: NO_VERTICAL_VELOCITY
state	6816	begin subsurface finish
7021.42	31143	440.89	0.54	80.00	490.8	431.4	550.2	2240.7	1970.9	1.89	2.47	786	7099.80	58.08	2.83	3.82	0.005	0.106	0.111	1556.03	1502.00	1610.06	1823.12	3460.00	0	0	0	15.66	15.46	15.52
7100	end subsurface finish: CONTROL_FINISHED_OK
state	7100	begin surface