Glider dive log

AMOS Aug23 * SG242 * Dive index * Mission links * Dive 206 * 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 206 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 65.897392 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 108.8657 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 65.897392 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 108.8657 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 206 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 021023,141741,7334.131,-15847.717,0,3510.0,0,10.2 TGT_RADIUS 5000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 19.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -8.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021023,141741,7334.131,-15847.717,0,3510.0,0,10.2 MHEAD_RNG_PITCHd_Wd 347.0,33888,-17.6,-10.000,-21.24,2209,0.174

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 1696270820,212.1,1,stop FG_AHR_24Vo 109.143

MODEM_MSG CACST,8,1,20231002181740.618069,18,1155,12,0109,0000,246,00,00,03,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1F FG_AHR_10Vo 65.928

SM_CCo 6497.53,139.85,1.208,0,500.4,445.6,555.1,699.01 MEM0 59796,1,0,0

FINISH1 1.6,1.0210,447 MEM1 65508,1,0,0

FINISH2 1.4 MEM2 1026684,26,19964,70

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 32262,708

IRIDIUM_FIX 7336.65,-15833.14,021023,081055 CAP_FILE_SIZE 191813,0

TCM_TEMP 4.01 SDSIZE 3887104,3796000

RAFOS_CLK -5 SDFILEDIR 1470,207

MODEM 10,1696270660,77.49360,-139.94749,460.618,674805.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7334.130859,-15847.716797,021023,141441,2,510,0.54 SOUNDSPEED 1465.0

HUMID 49.80 CURRENT 0.122, 11.6,1

TEMP 0.77 MAGCAL 1.000000,0.004896,-0.030416,0.010336,1.021238,-0.023270,0.014349,-0.070588,0.920704,765.3,-967.0,-681.3,36,0.0753,1

INTERNAL_PRESSURE 7.74092 IMPLIED_C_PITCH 1681,12.11,431,0.0,0.00

_24V_AH 14.62,133.572 IMPLIED_C_VBD 3324,54.666847,423,0

_10V_AH 15.00,0.000 GPS 021023,141741,7334.131,-15847.717,0,3510.0,0,10.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 769 1599 17995.76 legato 3830 20 1119.95

Pitch_motor 11 178 28.66 nil 0 0 0.00

Roll_motor 82 195 235.40 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 0 0 0.00 nil 0 0 0.00

Core 5199 5 399.29 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 1598 0 7.67

Compass 641 5 48.15

RAFOS 1273 40 764.25

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 3 begin dive

3.74 16386 -145.99 -1.51 0.00 3351.1 3314.1 3388.2 1691.4 2126.2 0.00 0.00 0 16.83 10.93 0.00 0.11 0.007 0.000 0.192 3944.47 3926.38 3962.56 1690.75 2060.00 0 0 0 15.74 30.00 15.58

17.27 4389 -145.99 -1.51 80.00 3946.1 3926.4 3965.8 1690.9 2059.8 21.60 0.00 1 29.11 0.00 2.28 3.88 0.000 0.058 0.120 3948.03 3926.81 3969.25 1322.19 3565.81 0 0 0 30.00 15.59 15.55

256.09 1156 -145.99 -1.48 0.00 3949.8 3927.4 3972.3 1322.2 3564.4 63.78 -16.40 44 263.23 0.00 0.00 3.52 0.000 0.000 0.039 3952.16 3929.94 3974.38 1321.75 2073.00 0 0 0 30.00 30.00 15.72

626.34 388 -145.99 -1.47 80.00 3950.8 3927.3 3974.2 1322.0 2073.2 111.41 -12.57 81 633.62 0.00 0.00 3.78 0.000 0.000 0.116 3956.19 3932.88 3979.50 1321.12 3566.12 0 0 0 30.00 30.00 15.70

707.21 3205 -145.99 -1.45 0.00 3951.1 3927.8 3974.4 1322.1 3566.3 122.37 -13.82 93 721.51 0.00 0.22 3.50 0.000 0.158 0.040 3950.44 3927.00 3973.88 1351.50 2072.00 0 0 0 30.00 15.68 15.77

1091.28 260 -145.99 -1.45 80.00 3952.0 3928.1 3975.9 1351.7 2071.6 162.83 -10.19 131 1098.83 0.00 0.00 3.77 0.000 0.000 0.117 3951.91 3927.75 3976.06 1351.19 3564.31 0 0 0 30.00 30.00 15.75

1213.66 1028 -145.99 -1.45 0.00 3952.0 3927.8 3976.3 1351.8 3565.1 176.66 -11.37 148 1229.80 0.00 0.00 3.49 0.000 0.000 0.040 3950.59 3927.12 3974.06 1351.81 2073.19 0 0 0 30.00 30.00 15.84

1599.82 160 -145.99 -1.47 0.00 3952.0 3927.4 3976.6 1351.4 2073.2 213.01 -8.79 187 1609.23 0.00 0.00 0.00 0.000 0.000 0.000 3952.84 3928.19 3977.50 1351.81 2072.75 0 0 0 30.00 30.00 30.00

1970.29 420 -145.99 -1.50 80.00 3952.5 3927.6 3977.4 1351.6 2073.8 240.48 -6.60 224 1986.65 0.00 0.00 3.76 0.000 0.000 0.119 3954.56 3929.81 3979.31 1351.56 3560.56 0 0 0 30.00 30.00 15.80

2123.41 1188 -145.99 -1.52 0.00 3952.1 3927.1 3977.1 1351.5 3560.8 250.40 -7.59 247 2138.16 0.00 0.00 3.49 0.000 0.000 0.041 3951.91 3926.31 3977.50 1351.88 2073.69 0 0 0 30.00 30.00 15.93

2526.07 4517 -145.99 -1.56 80.00 3951.9 3927.4 3976.4 1351.7 2074.0 278.67 -6.63 261 2535.13 0.00 0.25 3.78 0.000 0.075 0.119 3952.53 3928.00 3977.06 1305.62 3568.94 0 0 0 30.00 15.81 15.78

2665.94 1060 -145.99 -1.56 0.00 3951.9 3927.0 3976.8 1305.8 3567.5 291.29 -8.72 286 2673.93 0.00 0.00 3.52 0.000 0.000 0.040 3954.34 3927.31 3981.38 1305.44 2071.88 0 0 0 30.00 30.00 15.84

2784 end dive: TARGET_DEPTH_EXCEEDED

state 2784 begin apogee

2785.47 10243 0.00 -0.38 0.00 3953.0 3928.4 3977.6 1305.6 1963.8 301.00 -8.42 293 2915.73 116.72 2.13 0.10 1.599 0.118 0.196 3353.03 3270.19 3435.88 1612.31 2030.44 0 0 0 10.55 15.72 15.37

2917 end apogee: CONTROL_FINISHED_OK

state 2917 begin climb

2916.83 10243 145.99 1.51 0.00 3349.1 3265.8 3432.4 1611.9 2032.0 302.65 0.00 297 3051.36 117.31 2.96 0.00 1.536 0.064 0.000 2753.53 2651.38 2855.69 2074.56 2033.81 0 0 0 11.02 15.41 30.00

3421.38 21127 145.99 1.44 -80.00 2741.8 2643.4 2840.2 2075.1 2033.8 237.27 13.27 320 3439.60 0.00 0.26 4.04 0.000 0.178 0.121 2740.53 2642.75 2838.31 2043.25 532.56 0 0 0 30.00 15.46 15.51

3542.04 17542 145.99 1.36 0.00 2738.9 2643.2 2834.7 2044.2 532.4 221.90 12.40 337 3556.71 0.00 0.00 3.51 0.000 0.000 0.040 2740.12 2643.56 2836.69 2044.56 2023.38 0 0 0 30.00 30.00 15.64

3919.27 8354 230.67 1.43 0.00 2739.0 2643.1 2834.8 2044.0 2023.2 193.67 6.06 374 3994.89 67.82 0.00 0.00 1.447 0.000 0.000 2410.03 2309.38 2510.69 2044.69 2024.00 0 0 0 10.58 30.00 30.00

4364.88 8226 268.68 1.48 0.00 2397.0 2297.9 2496.2 2044.5 2023.6 156.50 8.23 418 4407.22 31.09 0.00 0.00 1.385 0.000 0.000 2252.62 2151.88 2353.38 2044.75 2023.50 0 0 0 10.82 30.00 30.00

4777.24 8742 298.98 1.51 -80.00 2244.2 2145.1 2343.2 2043.9 2023.3 119.22 8.59 459 4813.65 25.10 0.00 4.08 1.347 0.000 0.122 2127.12 2024.88 2229.38 2044.56 531.38 0 0 0 10.71 30.00 15.60

4858.99 1156 298.98 1.50 0.00 2125.3 2024.4 2226.2 2044.4 531.4 111.16 10.12 471 4873.84 0.00 0.00 3.53 0.000 0.000 0.039 2126.12 2024.75 2227.50 2044.12 2023.44 0 0 0 30.00 30.00 15.70

5243.99 10919 345.16 1.58 -80.00 2121.1 2019.3 2222.9 2043.9 2023.5 78.40 7.85 509 5299.69 38.09 0.26 4.09 1.324 0.052 0.121 1943.09 1837.19 2049.00 2110.81 531.50 0 0 0 10.75 15.76 15.59

5316.46 5253 345.16 1.56 0.00 1938.6 1833.9 2043.2 2112.8 531.4 71.45 10.11 518 5331.76 0.00 0.33 3.53 0.000 0.166 0.039 1937.50 1832.50 2042.50 2070.50 2023.69 0 0 0 30.00 15.57 15.65

5692.95 10919 426.50 1.69 -80.00 1932.2 1826.1 2038.2 2070.0 2022.8 41.84 6.22 567 5772.93 65.35 0.28 4.14 1.282 0.054 0.121 1609.84 1504.88 1714.81 2131.06 531.44 0 0 0 10.75 15.72 15.47

5815.34 9254 436.30 1.70 0.00 1606.0 1501.3 1710.7 2130.9 531.1 32.11 9.54 590 5834.69 9.97 0.00 3.57 1.105 0.000 0.039 1570.31 1465.12 1675.50 2131.00 2022.94 0 0 0 10.99 30.00 15.59

6017.19 8614 537.55 1.86 80.00 1563.9 1461.8 1666.1 2131.4 2022.6 19.29 5.29 630 6117.03 84.57 0.00 3.76 1.233 0.000 0.119 1160.09 1068.75 1251.44 2130.94 3462.00 0 0 0 10.82 30.00 15.37

6345 end climb: NO_VERTICAL_VELOCITY

state 6345 begin subsurface finish

6696.22 29095 447.39 0.55 80.00 487.1 432.5 541.7 2131.1 1970.4 1.64 1.02 694 6777.22 62.96 2.02 3.80 0.005 0.073 0.104 1524.38 1464.50 1584.25 1820.69 3467.56 0 0 0 15.71 15.55 15.55

6778 end subsurface finish: CONTROL_FINISHED_OK

state 6778 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	206	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	65.897392	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	108.8657	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	021023,141741,7334.131,-15847.717,0,3510.0,0,10.2	TGT_RADIUS	5000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	19.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-8.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021023,141741,7334.131,-15847.717,0,3510.0,0,10.2	MHEAD_RNG_PITCHd_Wd	347.0,33888,-17.6,-10.000,-21.24,2209,0.174
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	1696270820,212.1,1,stop	FG_AHR_24Vo	109.143
MODEM_MSG	CACST,8,1,20231002181740.618069,18,1155,12,0109,0000,246,00,00,03,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1F	FG_AHR_10Vo	65.928
SM_CCo	6497.53,139.85,1.208,0,500.4,445.6,555.1,699.01	MEM0	59796,1,0,0
FINISH1	1.6,1.0210,447	MEM1	65508,1,0,0
FINISH2	1.4	MEM2	1026684,26,19964,70
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	32262,708
IRIDIUM_FIX	7336.65,-15833.14,021023,081055	CAP_FILE_SIZE	191813,0
TCM_TEMP	4.01	SDSIZE	3887104,3796000
RAFOS_CLK	-5	SDFILEDIR	1470,207
MODEM	10,1696270660,77.49360,-139.94749,460.618,674805.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7334.130859,-15847.716797,021023,141441,2,510,0.54	SOUNDSPEED	1465.0
HUMID	49.80	CURRENT	0.122, 11.6,1
TEMP	0.77	MAGCAL	1.000000,0.004896,-0.030416,0.010336,1.021238,-0.023270,0.014349,-0.070588,0.920704,765.3,-967.0,-681.3,36,0.0753,1
INTERNAL_PRESSURE	7.74092	IMPLIED_C_PITCH	1681,12.11,431,0.0,0.00
_24V_AH	14.62,133.572	IMPLIED_C_VBD	3324,54.666847,423,0
_10V_AH	15.00,0.000	GPS	021023,141741,7334.131,-15847.717,0,3510.0,0,10.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	769	1599	17995.76	legato	3830	20	1119.95
Pitch_motor	11	178	28.66	nil	0	0	0.00
Roll_motor	82	195	235.40	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	0	0	0.00	nil	0	0	0.00
Core	5199	5	399.29	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	1598	0	7.67
Compass	641	5	48.15
RAFOS	1273	40	764.25
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	3	begin dive
3.74	16386	-145.99	-1.51	0.00	3351.1	3314.1	3388.2	1691.4	2126.2	0.00	0.00	0	16.83	10.93	0.00	0.11	0.007	0.000	0.192	3944.47	3926.38	3962.56	1690.75	2060.00	0	0	0	15.74	30.00	15.58
17.27	4389	-145.99	-1.51	80.00	3946.1	3926.4	3965.8	1690.9	2059.8	21.60	0.00	1	29.11	0.00	2.28	3.88	0.000	0.058	0.120	3948.03	3926.81	3969.25	1322.19	3565.81	0	0	0	30.00	15.59	15.55
256.09	1156	-145.99	-1.48	0.00	3949.8	3927.4	3972.3	1322.2	3564.4	63.78	-16.40	44	263.23	0.00	0.00	3.52	0.000	0.000	0.039	3952.16	3929.94	3974.38	1321.75	2073.00	0	0	0	30.00	30.00	15.72
626.34	388	-145.99	-1.47	80.00	3950.8	3927.3	3974.2	1322.0	2073.2	111.41	-12.57	81	633.62	0.00	0.00	3.78	0.000	0.000	0.116	3956.19	3932.88	3979.50	1321.12	3566.12	0	0	0	30.00	30.00	15.70
707.21	3205	-145.99	-1.45	0.00	3951.1	3927.8	3974.4	1322.1	3566.3	122.37	-13.82	93	721.51	0.00	0.22	3.50	0.000	0.158	0.040	3950.44	3927.00	3973.88	1351.50	2072.00	0	0	0	30.00	15.68	15.77
1091.28	260	-145.99	-1.45	80.00	3952.0	3928.1	3975.9	1351.7	2071.6	162.83	-10.19	131	1098.83	0.00	0.00	3.77	0.000	0.000	0.117	3951.91	3927.75	3976.06	1351.19	3564.31	0	0	0	30.00	30.00	15.75
1213.66	1028	-145.99	-1.45	0.00	3952.0	3927.8	3976.3	1351.8	3565.1	176.66	-11.37	148	1229.80	0.00	0.00	3.49	0.000	0.000	0.040	3950.59	3927.12	3974.06	1351.81	2073.19	0	0	0	30.00	30.00	15.84
1599.82	160	-145.99	-1.47	0.00	3952.0	3927.4	3976.6	1351.4	2073.2	213.01	-8.79	187	1609.23	0.00	0.00	0.00	0.000	0.000	0.000	3952.84	3928.19	3977.50	1351.81	2072.75	0	0	0	30.00	30.00	30.00
1970.29	420	-145.99	-1.50	80.00	3952.5	3927.6	3977.4	1351.6	2073.8	240.48	-6.60	224	1986.65	0.00	0.00	3.76	0.000	0.000	0.119	3954.56	3929.81	3979.31	1351.56	3560.56	0	0	0	30.00	30.00	15.80
2123.41	1188	-145.99	-1.52	0.00	3952.1	3927.1	3977.1	1351.5	3560.8	250.40	-7.59	247	2138.16	0.00	0.00	3.49	0.000	0.000	0.041	3951.91	3926.31	3977.50	1351.88	2073.69	0	0	0	30.00	30.00	15.93
2526.07	4517	-145.99	-1.56	80.00	3951.9	3927.4	3976.4	1351.7	2074.0	278.67	-6.63	261	2535.13	0.00	0.25	3.78	0.000	0.075	0.119	3952.53	3928.00	3977.06	1305.62	3568.94	0	0	0	30.00	15.81	15.78
2665.94	1060	-145.99	-1.56	0.00	3951.9	3927.0	3976.8	1305.8	3567.5	291.29	-8.72	286	2673.93	0.00	0.00	3.52	0.000	0.000	0.040	3954.34	3927.31	3981.38	1305.44	2071.88	0	0	0	30.00	30.00	15.84
2784	end dive: TARGET_DEPTH_EXCEEDED
state	2784	begin apogee
2785.47	10243	0.00	-0.38	0.00	3953.0	3928.4	3977.6	1305.6	1963.8	301.00	-8.42	293	2915.73	116.72	2.13	0.10	1.599	0.118	0.196	3353.03	3270.19	3435.88	1612.31	2030.44	0	0	0	10.55	15.72	15.37
2917	end apogee: CONTROL_FINISHED_OK
state	2917	begin climb
2916.83	10243	145.99	1.51	0.00	3349.1	3265.8	3432.4	1611.9	2032.0	302.65	0.00	297	3051.36	117.31	2.96	0.00	1.536	0.064	0.000	2753.53	2651.38	2855.69	2074.56	2033.81	0	0	0	11.02	15.41	30.00
3421.38	21127	145.99	1.44	-80.00	2741.8	2643.4	2840.2	2075.1	2033.8	237.27	13.27	320	3439.60	0.00	0.26	4.04	0.000	0.178	0.121	2740.53	2642.75	2838.31	2043.25	532.56	0	0	0	30.00	15.46	15.51
3542.04	17542	145.99	1.36	0.00	2738.9	2643.2	2834.7	2044.2	532.4	221.90	12.40	337	3556.71	0.00	0.00	3.51	0.000	0.000	0.040	2740.12	2643.56	2836.69	2044.56	2023.38	0	0	0	30.00	30.00	15.64
3919.27	8354	230.67	1.43	0.00	2739.0	2643.1	2834.8	2044.0	2023.2	193.67	6.06	374	3994.89	67.82	0.00	0.00	1.447	0.000	0.000	2410.03	2309.38	2510.69	2044.69	2024.00	0	0	0	10.58	30.00	30.00
4364.88	8226	268.68	1.48	0.00	2397.0	2297.9	2496.2	2044.5	2023.6	156.50	8.23	418	4407.22	31.09	0.00	0.00	1.385	0.000	0.000	2252.62	2151.88	2353.38	2044.75	2023.50	0	0	0	10.82	30.00	30.00
4777.24	8742	298.98	1.51	-80.00	2244.2	2145.1	2343.2	2043.9	2023.3	119.22	8.59	459	4813.65	25.10	0.00	4.08	1.347	0.000	0.122	2127.12	2024.88	2229.38	2044.56	531.38	0	0	0	10.71	30.00	15.60
4858.99	1156	298.98	1.50	0.00	2125.3	2024.4	2226.2	2044.4	531.4	111.16	10.12	471	4873.84	0.00	0.00	3.53	0.000	0.000	0.039	2126.12	2024.75	2227.50	2044.12	2023.44	0	0	0	30.00	30.00	15.70
5243.99	10919	345.16	1.58	-80.00	2121.1	2019.3	2222.9	2043.9	2023.5	78.40	7.85	509	5299.69	38.09	0.26	4.09	1.324	0.052	0.121	1943.09	1837.19	2049.00	2110.81	531.50	0	0	0	10.75	15.76	15.59
5316.46	5253	345.16	1.56	0.00	1938.6	1833.9	2043.2	2112.8	531.4	71.45	10.11	518	5331.76	0.00	0.33	3.53	0.000	0.166	0.039	1937.50	1832.50	2042.50	2070.50	2023.69	0	0	0	30.00	15.57	15.65
5692.95	10919	426.50	1.69	-80.00	1932.2	1826.1	2038.2	2070.0	2022.8	41.84	6.22	567	5772.93	65.35	0.28	4.14	1.282	0.054	0.121	1609.84	1504.88	1714.81	2131.06	531.44	0	0	0	10.75	15.72	15.47
5815.34	9254	436.30	1.70	0.00	1606.0	1501.3	1710.7	2130.9	531.1	32.11	9.54	590	5834.69	9.97	0.00	3.57	1.105	0.000	0.039	1570.31	1465.12	1675.50	2131.00	2022.94	0	0	0	10.99	30.00	15.59
6017.19	8614	537.55	1.86	80.00	1563.9	1461.8	1666.1	2131.4	2022.6	19.29	5.29	630	6117.03	84.57	0.00	3.76	1.233	0.000	0.119	1160.09	1068.75	1251.44	2130.94	3462.00	0	0	0	10.82	30.00	15.37
6345	end climb: NO_VERTICAL_VELOCITY
state	6345	begin subsurface finish
6696.22	29095	447.39	0.55	80.00	487.1	432.5	541.7	2131.1	1970.4	1.64	1.02	694	6777.22	62.96	2.02	3.80	0.005	0.073	0.104	1524.38	1464.50	1584.25	1820.69	3467.56	0	0	0	15.71	15.55	15.55
6778	end subsurface finish: CONTROL_FINISHED_OK
state	6778	begin surface